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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 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Challenges of In Space Robotic Servicing

As future space missions extend beyond the friendly confines of low earth orbit, robots are becoming an increasingly vital component on flight manifests. While the main focus to-date has been on satellite servicing due to its high commercial potential, robots are also being considered for orbital debris removal, space construction, and asteroid sample retrieval. The robotic technologies and automation required to carry out these missions represent a significant advancement beyond the manipulation technology used previously on the Space Shuttle, the International Space Station, and planetary rovers. While higher demands are being driven by the more ambitious nature of the tasks, the handling of uncooperative targets such as satellites and asteroids, present a greater challenge.

robotic technologies↗
NASA NTRS1992

Video Guidance Sensor for automated capture

The paper describes a video-based sensor, the Video Guidance Sensor, which has been developed for use in automated docking systems or for automated capture with robotic systems. The sensor itself consists of several basic components: IR diode illuminators, a solid-state camera, a frame grabber, and a microprocessor. The target consists of three circular retroreflectors evenly spaced in a line with the middle reflector mounted on a short pole. Each retroreflector has a narrow bandpass optical filter in front of it. From this sensor and target configuration, the positions and attitudes of the target relative to the sensor can be determined. The position information can be differenced to with respect to time in order to obtain the relative positional and angular velocities. That information is sufficient to perform automated docking, berthing, or capture. The paper gives details of the sensor's make-up, including accuracies, noise characteristics, and operating ranges.

Howard, R. T.↗
DOE OSTI2023

Light Water Sustainability Program: Optimizing Information Automation Using a New Method Based on System-Theoretic Process Analysis

This report describes the interim progress for research supporting the design and optimization of information automation systems for nuclear power plants. Much of the domestic nuclear fleet is currently focused on modernizing technologies and processes, including transitioning toward digitalization in the control room and elsewhere throughout the plant, along with a greater use of automation, artificial intelligence, robotics, and other emerging technologies. While there are significant opportunities to apply these technologies toward greater plant safety, efficiency, and overall cost-effectiveness, optimizing their design and avoiding potential safety and performance risks depends on ensuring that human-performance-related organizational and technical design issues are identified and addressed. This report describes modeling tools and techniques, based on sociotechnical system theory, to support these design goals and their application in the current research effort. The report is intended for senior nuclear energy stakeholders, including regulators, corporate management, and senior plant management. We have developed and employed a method to design an optimized information automation ecosystem (IAE) based on the systems-theoretic constructs underlying sociotechnical systems theory in general and the Systems-Theoretic Accident Modeling and Processes (STAMP) approach in particular. We argue that an IAE can be modeled as an interactive information control system whose behavior can be understood in terms of dynamic control and feedback relationships amongst the system’s technical and organizational components. Up to this point, we have employed a Causal Analysis based on STAMP (CAST) technique to examine a performance- and safety-related incident at an industry partner’s plant that involved the unintentional activation of an emergency diesel generator. This analysis provided insight into the behavior of the plant’s current information control structure within the context of a specific, significant event. Our ongoing analysis is focused on identifying near-term process improvements and longer-term design requirements for an optimized IAE system. The latter analyses will employ a second STAMP-derived technique, System-Theoretic Process Analysis (STPA). STPA is a useful modeling tool for generating and analyzing actual or potential information control structures. Finally, we have begun modeling plantwide organizational relationships and processes. Organizational system modeling will supplement our CAST and STPA findings and provide a basis for mapping out a plantwide information control architecture. CAST analysis findings indicate an important underlying contributor to the incident under investigation, and a significant risk to information automation system performance, was perceived schedule pressure, which exposed weaknesses in interdepartmental coordination between and within responsible plant organizations and challenged the resilience of established plant processes, until a human caused the initiating event. These findings are discussed in terms of their risk to overall system performance and their implications for information automation system resilience and brittleness. We present two preliminary information automation models. The proactive issue resolution model is a test case of an information automation concept with significant near-term potential for application and subsequent reduction in significant plant events. The IAE model is a more general representation of a broader, plantwide information automation system. From our results, we have generated a set of preliminary system-level requirements and safety constraints. These requirements will be further developed over the remainder of our project in collaboration with nuclear industry subject matter experts and specialists in the technical systems under consideration. Additionally, we will continue to pursue the system analyses initiated in the first part of our effort, with a particular emphasis on STPA as the main tool to identify weak or weakening control structures that affect the resilience of organizations and programs. Our intent is to broaden the scope of the analysis from an individual use case to a related set of use cases (e.g., maintenance tasks, compliance tasks) with similar human-system performance challenges. This will enable more generalized findings to refine the Proactive Issue Resolution and IAE models, as well as their system-level requirements and safety constraints. We will use organizational system modeling analyses to supplement STPA findings and model development. We conclude the report with a set of summary recommendations and an initial draft list of system-level requirements and safety constraints for optimized information automation systems.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS1990

Automated decision stations

This paper discusses the combination of software robots and expert systems to automate everyday business tasks. Tasks which require people to repetitively interact with multiple systems screens as well as multiple systems.

Tischendorf, Mark↗
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
DOE OSTI2023

Optimizing Information Automation Using a New Method Based on System-Theoretic Process Analysis: Tool Development and Method Evaluation

This report is an update to a prior report that describes progress and findings for a program of research supporting the design and optimization of information automation systems for nuclear power plants. Much of the domestic nuclear fleet is currently focused on modernizing technologies and processes, including transitioning toward digitalization in the control room and throughout the plant, along with a greater interest in the use of automation, artificial intelligence, robotics, and other emerging technologies. While there are significant opportunities to apply these technologies toward greater plant safety, efficiency, and overall cost-effectiveness, optimizing their design and avoiding potential safety and performance risks depends on ensuring that human performance-related organizational and technical design issues are identified and addressed early in the design process. This report describes modeling tools and techniques, based on sociotechnical systems theory, to support these design goals and their application in the current research effort. The report is primarily intended for senior nuclear energy stakeholders, including regulators, corporate management, and senior plant management. We have developed and employed a method to design an optimized information automation ecosystem (IAE) based on the systems-theoretic constructs underlying sociotechnical systems theory in general and the Systems-Theoretic Accident Modeling and Processes (STAMP) approach in particular. We argue that an IAE can be modeled as an interactive information control system whose behavior can be understood in terms of dynamic control, feedback, and communication relationships amongst the system’s technical and organizational components. We have employed two STAMP-based tools in this effort. The first is Causal Analysis based on STAMP (CAST), an accident and incident analysis technique that was used to examine a performance- and safety-related incident at an industry partner’s plant involving the unintentional activation of an emergency diesel generator. This analysis provided insight into the behavior of the plant’s current information control structure within the context of a specific, significant event. The second tool is Systems Theoretic Process Analysis (STPA) which is a proactive risk analysis tool used to examine existing and potential, planned sociotechnical systems. STPA was used to identify risk factors in the current design of a generic nuclear power plant (NPP) preventive maintenance system. Our analyses focused on identifying near-term system improvements and longer-term design requirements for an optimized IAE system. CAST analysis findings indicate an important underlying contributor to the incident under investigation, and a significant risk to information automation system performance, was perceived time and schedule pressure, which exposed weaknesses in interdepartmental coordination between and within responsible plant organizations and challenged the resilience of established plant processes, until a human caused the eventual event. These findings are discussed in terms of their risk to overall system performance and their implications for information automation system resilience and brittleness. STPA findings exposed several areas of concern in the design of current preventive maintenance systems. We also present two preliminary information automation models. The proactive issue resolution (PIR) model is a test case of an information automation concept with significant near-term potential for application and subsequent reduction in significant plant events. The IAE model is a more general representation of a broader, plantwide information automation system and represents an end-state vision for our work. From our results, we have generated an initial set of preliminary system-level requirements and safety constraints for these models. We have also focused on early development of easy to learn, easy to use “transportable” tools for sociotechnical systems analysis. We intend these to be used by NPP personnel as a means of gaining reliable and relatively quick insight into (1) sociotechnical systems factors impacting incidents and accidents, (2) potential sociotechnical risk factors in existing or planned system designs, and (3) potential weaknesses in a system’s safety and/or information control structure. We conclude the report with a set of summary recommendations, a discussion of planned and potential follow-on research and development, and a draft list of system-level requirements and safety constraints for optimized information automation systems.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2020

Robotic Assisted Non-Destructive Testing (NDT)

Mission Statement: Concrete wall characterization for structural integrity evaluation of H-Canyon exhaust tunnel using a remote controlled robotic arm with a NDT Concrete Instrument. Challenges: Rough and Curved Surfaces, Remote location. The UR5 is a collaborative robotic arm capable of: Payload: 11 lbs (5 kg), Reach: 33.5 in (850 mm), Footprint: 5.87 in (149 mm) diameter, Weight: 45.4 Ibs (20.6 kg). The force torque sensor reacts to a set value inputted by the user that can be utilized for sensitive products. This allows the UR5 to react to surfaces using the built-in function to search for a wall and orient itself normal to that plane. The Proceq Pundit 250 array is a nondestructive device that the user applies against a concrete wall and scans using ultrasonic transducers. The back wall and other defects can be show through the touchscreen. A fixture to hold the Proceq Pundit 250 array onto the UR5 robotic arm was designed and 3D printed. It includes openings for easy access to the buttons from the Pundit array as well as a reinforced structural design. The scan from the Pundit array can show the back-wall, rebars, and other defects to assist in determining the structural integrity. In order to scan, a program was made to search for the wall first. 1. The UR5 robotic arm will go to the desired location away from the wall. 2. It will then search for the wall by moving towards it slowly. 3. After contact, the force applied will slowly but steadily increase to a preset value inputted by the user. 4. The force torque sensor will use those values and communicate with the UR5 by adjusting the arm to become normal to the wall. 5. The arm will then apply force to push back the transducers on the Pundit array to avoid gaps. 6. It will then prompt the user to collect data and wait until finished. The UR5 teach pendant allows the user to program the robot to perform automated and repeatable tasks. It includes a free drive mode which allows the user to move the arm to a desired position by hand. The user can also apply restricted planes which include either stopped or slower motion to ensure safety. The concrete sample being tested includes rebars and different grades of surface roughness to understand the readings from the Proceq Pundit 250 array. Desired concrete samples are currently being fabricated that will simulate the terrain being tested.

3D PRINTING↗
NASA NTRS1994

Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), volume 2

This document contains papers presented at the Space Operations, Applications and Research Symposium (SOAR) Symposium hosted by NASA/Johnson Space Center (JSC) on August 3-5, 1993, and held at JSC Gilruth Recreation Center. The symposium was cosponsored by NASA/JSC and U.S. Air Force Materiel Command. SOAR included NASA and USAF programmatic overviews, plenary session, panel discussions, panel sessions, and exhibits. It invited technical papers in support of U.S. Army, U.S. Navy, Department of Energy, NASA, and USAF programs in the following areas: robotics and telepresence, automation and intelligent systems, human factors, life support, and space maintenance and servicing. SOAR was concerned with Government-sponsored research and development relevant to aerospace operations. More than 100 technical papers, 17 exhibits, a plenary session, several panel discussions, and several keynote speeches were included in SOAR '93. These proceedings, along with comments and suggestions made by panelists and keynote speakers, will be used to assess progress made in joint USAF/NASA projects and activities to identify future collaborative/jolnt programs. SOAR '93 was the responsibility of the USAF NASA Space Technology Interdependency Group Operations Committee. Symposium proceedings include papers presented by experts from NASA, the USAF, USA, and USN, U.S. Department of Energy, universities, and industry.

Navigation↗
DOE OSTI2024

APACE: AlphaFold2 and advanced computing as a service for accelerated discovery in biophysics

The prediction of protein 3D structure from amino acid sequence is a computational grand challenge in biophysics and plays a key role in robust protein structure prediction algorithms, from drug discovery to genome interpretation. The advent of AI models, such as AlphaFold, is revolutionizing applications that depend on robust protein structure prediction algorithms. To maximize the impact, and ease the usability, of these AI tools we introduce APACE, AlphaFold2 and advanced computing as a service, a computational framework that effectively handles this AI model and its TB-size database to conduct accelerated protein structure prediction analyses in modern supercomputing environments. We deployed APACE in the Delta and Polaris supercomputers and quantified its performance for accurate protein structure predictions using four exemplar proteins: 6AWO, 6OAN, 7MEZ, and 6D6U. Using up to 300 ensembles, distributed across 200 NVIDIA A100 GPUs, we found that APACE is up to two orders of magnitude faster than off-the-self AlphaFold2 implementations, reducing time-to-solution from weeks to minutes. This computational approach may be readily linked with robotics laboratories to automate and accelerate scientific discovery.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Robot-Alignment

Fermilab's SRF Robotics group's automated alignment program. FERMILAB-CODE-2026-03-TD

Giffen, Nickolas [Northern Illinois Univ., DeKalb,↗
NASA NTRS1983

Calculating Clearances for Manipulators

Set of algorithms rapidly calculates minimum safe clearances for remote manipulators. Such calculations are used in design of trajectories for manipulators to ensure they do not accidentally strike surrounding objects. Structural parts are considered as cylindrical shells having circular plane areas for ends. Clearance calculation method offers special benefits in industrial robotics, particularly in automated machining.

Copeland, E. L.↗
NASA NTRS1985

Artificial intelligence - NASA

Artificial Intelligence (AI) represents a vital common space support element needed to enable the civil space program and commercial space program to perform their missions successfully. It is pointed out that advances in AI stimulated by the Space Station Program could benefit the U.S. in many ways. A fundamental challenge for the civil space program is to meet the needs of the customers and users of space with facilities enabling maximum productivity and having low start-up costs, and low annual operating costs. An effective way to meet this challenge may involve a man-machine system in which artificial intelligence, robotics, and advanced automation are integrated into high reliability organizations. Attention is given to the benefits, NASA strategy for AI, candidate space station systems, the Space Station as a stepping stone, and the commercialization of space.

Erickson, J. D.↗
NASA NTRS1987

Third Conference on Artificial Intelligence for Space Applications, part 1

The application of artificial intelligence to spacecraft and aerospace systems is discussed. Expert systems, robotics, space station automation, fault diagnostics, parallel processing, knowledge representation, scheduling, man-machine interfaces and neural nets are among the topics discussed.

Denton, Judith S.↗
NASA NTRS1989

DEVS representation of dynamical systems - Event-based intelligent control

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Zeigler, Bernard P.↗
NASA NTRS1992

Development of a machine vision guidance system for automated assembly of space structures

The topics are presented in viewgraph form and include: automated structural assembly robot vision; machine vision requirements; vision targets and hardware; reflective efficiency; target identification; pose estimation algorithms; triangle constraints; truss node with joint receptacle targets; end-effector mounted camera and light assembly; vision system results from optical bench tests; and future work.

Eric G Cooper↗
NASA NTRS1993

The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)

This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992 and held at the JSC Gilruth Recreation Center. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotic and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. The symposium's proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry.

Krishen, Kumar↗
NASA NTRS1989

Mars surface-based factory: Computer control of a water treatment system to support a space colony on Mars

In a continued effort to design a surface-based factory on Mars for the production of oxygen and water, the Design Group at Prairie View A&M University made a preliminary study of the surface and atmospheric composition on Mars and determined the mass densities of the various gases in the martian atmosphere. Based on the initial studies, the design group determined oxygen and water to be the two products that could be produced economically under the martian conditions. Studies were also made on present production techniques to obtain water and oxygen. Analyses were made to evaluate the current methods of production that were adaptable to the martian conditions. The detailed report was contained in an Interim Report submitted to NASA/USRA in Aug. of 1986. Even though the initial effort was the production of oxygen and water, we found it necessary to produce some diluted gases that can be mixed with oxygen to constitute 'breathable' air. In Phase 2--Task 1A, the Prairie View A&M University team completed the conceptual design of a breathable-air manufacturing system, a means of drilling for underground water, and storage of water for future use. The design objective of the team for the 1987-1988 academic year was the conceptual design of an integrated system for the supply of quality water for biological consumption, farming, and residential and industrial use. The design has also been completed. Phase 2--Task 1C is the present task for the Prairie View Design Team. This is a continuation of the previous task, and the continuation of this effort is the investigation into the extraction of water from beneath the surface and an alternative method of extraction from ice formations on the surface of Mars if accessible. In addition to investigation of water extraction, a system for computer control of extraction and treatment was developed with emphasis on fully automated control with robotic repair and maintenance. It is expected that oxygen- and water-producing plants on Mars will be limited in the amount of human control that will be available to operate large and/or isolated plants. Therefore, it is imperative that computers be integrated into plant operation with the capability to maintain life support systems and analyze and replace defective parts or systems with no human interface.

Brice, R.↗
NASA NTRS1993

Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992), volume 2

This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotics and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. Symposium proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry.

Krishen, Kumar↗