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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
DOE OSTI2025

Automated Systems for Solvent Extraction

An automated solvent extraction system for the eventual handling of radioactive materials has been designed and procured for rapid, efficient and safe liquid-liquid extraction processes. This system will be configured to carry out liquid-liquid separations from beginning to end, automating tedious and time-consuming tasks such as organic/aqueous phase prep, pH checks, phase separation, and metal ion analysis. The system features advanced liquid handling capabilities, a robotic arm for precise sample transfer, and sophisticated analytical tools including UV-VIS spectrophotometry for real-time monitoring. Additionally, it incorporates automated capping of vials, vortex mixing, and centrifugation to ensure thorough mixing and phase separation. This report provides an overview of the system and general capabilities as well as initial efforts to develop an automated workflow for liquid-liquid separations.

38 RADIATION CHEMISTRY, RADIOCHEMISTRY, AND NUCLEA↗
DOE OSTI2023

Robotic Systems integration for cleanroom SRF assembly at Fermilab

Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.

42 ENGINEERING↗
DOE OSTI2026

A Modular Accelerator Robotics Framework for AD Robotics

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khan, M. [Fermilab; Rensselaer Poly.; Unlis↗
DOE OSTI2022

Local Thermomechanical Processing for Improving Formability of High Strength Aluminum Sheets

Limited room temperature formability hinders the wide-spread use of high strength aluminum alloys in structural body-in-white parts. Stamping or extrusion at warm temperatures or from softer tempers are the current solutions. In this work, our approach is to start with age-hardened sheets from 7xxx and 6xxx family of alloys and improve their formability using local thermomechanical processing only in the regions demanding highest ductility in the forming processes. We achieved local formability improvements with friction stir processing and introduce another process named roller-bending as a concept and showed its feasibility through finite element simulations. Initial results from FSP indicated significant deformation in the processed zones with minimal sheet distortion. FSP also resulted in dynamically recrystallized, fine grained (d < 5 µm) microstructures in the processed regions with textures significantly different from the base material. This resulted in formability improvements of > 30% in 7085-T76 and > 50% in 6111-T6 alloys as measured by minimum bend radius (r/t) ratios established with V-bending tests performed at 90° and 180° bend angles. Based on the encouraging initial results, we envision applicability of these processes in both pre- and post-stamping stages through integration of the process tools as end-effectors to robotic arms.

Nasim, Wahaz↗
NASA NTRS1982

Six degree of freedom manual controls study report

The feasibility of using degree of freedom manual controls in space in an on orbit environment was determined. Several six degree of freedom controls were tested in a laboratory environment, and replica controls were used to control robot arms. The selection of six degrees of freedom as a design goal was based on the fact that six degrees are sufficient to define the location and orientation of a rigid body in space.

Mckinnon, G. M.↗
NASA NTRS1980

Control system analysis and synthesis for a six degree-of-freedom universal Force-Reflecting Hand Controller

A six degree-of-freedom joystick with feedback motors, called the Force-Reflecting Hand Controller (FRHC) is used as control input for the human operator in a teleoperator system. The geometric and dynamic properties of the FRHC are entirely different from those of the manipulator being controlled. The paper discusses the analysis and synthesis of the control loop between the FRHC and the robot arm and examines the necessary position and force transformations. The controller is implemented through a dedicated minicomputer.

Handlykken, M.↗
NASA NTRS1985

Automatic Robot Safety Shutdown System

Robot turned off if acceleration exceeds preset value. Signals from accelerometer on robot arm pass through filter and amplifier, eliminating high-frequency noise and hydraulic-pump pulsations. Data digitized and processed in computer. Unit controls other machines that perform repetitive movements, including rotary tables, tracked vehicles, conveyor lines, and elevators.

Lirette, M.↗
NASA NTRS1985

Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

Barker, K.↗
NASA NTRS1985

Research in computer science

Synopses are given for NASA supported work in computer science at the University of Virginia. Some areas of research include: error seeding as a testing method; knowledge representation for engineering design; analysis of faults in a multi-version software experiment; implementation of a parallel programming environment; two computer graphics systems for visualization of pressure distribution and convective density particles; task decomposition for multiple robot arms; vectorized incomplete conjugate gradient; and iterative methods for solving linear equations on the Flex/32.

Ortega, J. M.↗
NASA NTRS1986

Research in computer science

Various graduate research activities in the field of computer science are reported. Among the topics discussed are: (1) failure probabilities in multi-version software; (2) Gaussian Elimination on parallel computers; (3) three dimensional Poisson solvers on parallel/vector computers; (4) automated task decomposition for multiple robot arms; (5) multi-color incomplete cholesky conjugate gradient methods on the Cyber 205; and (6) parallel implementation of iterative methods for solving linear equations.

Ortega, J. M.↗
NASA NTRS1985

Recent advancements in telepresence technology development

This paper describes recent developments at JPL aimed at enhancing the operator's awareness of the remote task he or she is controlling in space teleoperation. The first development is related to the use of force-reflecting or bilateral manual control in weightless condition. The second development is related to integrated graphics displays of force and torque information originating from a remote robot hand. The third development is related to a distributed computational system in teleoperation organized in two groups: one integrated with a remote robot arm and hand, and another integrated with the control station. This computational system carries out interactive automation functions.

Corker, K.↗
NASA NTRS1987

Position Control for Non-linear, Multiple-Link Robots

Several approaches to complicated control problem examined. Report surveys methods for controlling motion of robot manipulators. Applies to coupled, highly nonlinear multiple-link robots. Presents adaptive control technique based on discrete linear model of robot arm, obtained by linearizing nonlinear dynamical equations about nominal trajectory. Parameters of model calculated with adaptive parameter-identification algorithm. Based on system model, optimal control input computed using position and velocity feedback.

Seraji, H.↗
NASA NTRS1987

Solutions of some problems in applied mathematics using MACSYMA

Various Symbolic Manipulation Programs (SMP) were tested to check the functioning of their commands and suitability under various operating systems. Support systems for SMP were found to be relatively better than the one for MACSYMA. The graphics facilities for MACSYMA do not work as expected under the UNIX operating system. Not all commands for MACSYMA function as described in the manuals. Shape representation is a central issue in computer graphics and computer-aided design. Aside from appearance, there are other application dependent, desirable properties like continuity to certain order, symmetry, axis-independence, and variation-diminishing properties. Several shape representations are studied, which include the Osculatory Method, a Piecewise Cubic Polynomial Method using two different slope estimates, Piecewise Cubic Hermite Form, a method by Harry McLaughlin, and a Piecewise Bezier Method. They are applied to collected physical and chemical data. Relative merits and demerits of these methods are examined. Kinematics of a single link, non-dissipative robot arm is studied using MACSYMA. Lagranian is set-up and Lagrange's equations are derived. From there, Hamiltonian equations of motion are obtained. Equations suggest that bifurcation of solutions can occur, depending upon the value of a single parameter. Using the characteristic function W, the Hamilton-Jacobi equation is derived. It is shown that the H-J equation can be solved in closed form. Analytical solutions to the H-J equation are obtained.

Punjabi, Alkesh↗
NASA NTRS1985

A software toolbox for robotics

A method for programming cooperating manipulators, which is guided by a geometric description of the task to be performed, is given. For this a suitable language must be used and a method for describing the workplace and the objects in it in geometric terms. A task level command language and its implementation for concurrently driven multiple robot arm is described. The language is suitable for driving a cell in which manipulators, end effectors, and sensors are controlled by their own dedicated processors. These processors can communicate with each other through a communication network. A mechanism for keeping track of the history of the commands already executed allows the command language for the manipulators to be event driven. A frame based world modeling system is utilized to describe the objects in the work environment and any relationships that hold between these objects. This system provides a versatile tool for managing information about the world model. Default actions normally needed are invoked when the data base is updated or accessed. Most of the first level error recovery is also invoked by the database by utilizing the concepts of demons. The package can be utilized to generate task level commands in a problem solver or a planner.

Sanwal, J. C.↗
NASA NTRS1987

AKM capture device

In an effort to recover the Westar and Palapa satellites and the considerable investment each represented, NASA and Hughes undertook the Satellite Retrieval Mission. The mechanism used to capture each of the errant satellites was the AKM (Apogee Kick Motor) Capture Device (ACD), also referred to as the Stinger. The ACD had three interface requirements: interface with the Manned Maneuvering Unit (MMU) for transportation to and stabilization of the spacecrafts; interface with each satellite for retrieval; and finally, interface with the Shuttle's Remote Manipulator System (RMS or robot arm) for satellite transport back to the Orbiter's payload bay. The majority of the design requirements were associated with the capture and release of the satellites. In addition to these unique requirements, the general EVA, RMS grapple, and RMS manipulation requirements applied. These requirements included thermal, glare, snag, RMS runaway and crewman safety considerations.

Harwell, William D.↗
NASA NTRS1986

Elastic robot control - Nonlinear inversion and linear stabilization

An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).

Singh, S. N.↗
NASA NTRS1988

Heat Exchanger For Rotating Modular Structures

Heat exchanger transfers heat from one structure to another while accommodating rotary motion of structures. Flat-panel heat exchanger passes heat from fluid in middle panel to fluid in outer panels. Diaphragm-like outer panels swell to conform to surfaces of middle panel, ensuring thermal contact. Rotary fluid coupling provides connection for both supply fluid and return fluid. Flexible hoses carrying fluid to and from coupling accommodate tilt of one structure with respect to other. Adapted to transfer of fluids and heat across joints of machine tools and robot arms and to flow of coolant through portable electronic equipment.

Clark, William E.↗