Search NASA⌕ Search

SEARCH · Search NASA

Results for “robot operating system”

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 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Desert Rats 2010 Operations Tests: Insights from the Geology Crew Members

Desert Research and Technology Studies (Desert RATS) is a multi-year series of tests of NASA hardware and operations deployed in the high desert of Arizona. Conducted annually since 1997, these activities exercise planetary surface hardware and operations in relatively harsh conditions where long-distance, multi-day roving is achievable. Such activities not only test vehicle subsystems, they also stress communications and operations systems and enable testing of science operations approaches that advance human and robotic surface exploration capabilities. Desert RATS 2010 tested two crewed rovers designed as first-generation prototypes of small pressurized vehicles, consistent with exploration architecture designs. Each rover provided the internal volume necessary for crewmembers to live and work for periods up to 14 days, as well as allowing for extravehicular activities (EVAs) through the use of rear-mounted suit ports. The 2010 test was designed to simulate geologic science traverses over a 14-day period through a volcanic field that is analogous to volcanic terrains observed throughout the Solar System. The test was conducted between 31 August and 13 September 2010. Two crewmembers lived in and operated each rover for a week with a "shift change" on day 7, resulting in a total of eight test subjects for the two-week period. Each crew consisted of an engineer/commander and an experienced field geologist. Three of the engineer/commanders were experienced astronauts with at least one Space Shuttle flight. The field geologists were drawn from the scientific community, based on funded and published field expertise.

Bleacher, J. E.↗
NASA NTRS1977

The navigation system of the JPL robot

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Thompson, A. M.↗
NASA NTRS1991

Tele-existence and/or cybernetic interface studies in Japan

Tele-existence aims at a natural and efficient remote control of robots by providing the operator with a real time sensation of presence. It is an advaced type of teleoperation system which enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in one of the remote anthropomorphic robots in the remote environment, e.g., in a hostile environment such as those of nuclear radiation, high temperature, and deep space. In order to study the use of the tele-existence system in the artificially constructed environment, the visual tele-existence simulator has been designed, a pseudo-real-time binocular solid model robot simulator has been made, and its feasibility has been experimentally evaluated. An anthropomorphic robot mechanism with an arm having seven degrees of freedom has been designed and developed as a slave robot for feasibility experiments of teleoperation using the tele-existence method. An impedance controlled active display mechanism and a head mounted display have also been designed and developed as the display subsystem for the master. The robot's structural dimensions are set very close to those of humans.

Tachi, Susumu↗
NASA NTRS1987

Telerobot for space station

The Flight Telerobotic Servicer (FTS), a multiple arm dexterous manipulation system, will aid in the assembly, maintenance, and servicing of the space station. Fundamental ideas and basic conceptual designs for a shuttle-based telerobot system have been produced. Recent space station studies provide additional concepts that should aid in the accomplishment of mission requirements. Currently, the FTS is in contractual source selection for a Phase B preliminary design. At the same time, design requirements are being developed through a series of robotic assessment tasks being performed at NASA and commercial installations. A number of the requirements for remote operation on the space station, necessary to supplement extravehicular activity (EVA), will be met by the FTS. Finally, technology developed for telerobotics will advance the state of the art of remote operating systems, enhance operator productivity, and prove instrumental in the evolution of an adaptive, intelligent autonomous robot.

Jenkins, Lyle M.↗
NASA NTRS1993

On the design of fault-tolerant robotic manipulator systems

Robotic systems are finding increasing use in space applications. Many of these devices are going to be operational on board the Space Station Freedom. Fault tolerance has been deemed necessary because of the criticality of the tasks and the inaccessibility of the systems to maintenance and repair. Design for fault tolerance in manipulator systems is an area within robotics that is without precedence in the literature. In this paper, we will attempt to lay down the foundations for such a technology. Design for fault tolerance demands new and special approaches to design, often at considerable variance from established design practices. These design aspects, together with reliability evaluation and modeling tools, are presented. Mechanical architectures that employ protective redundancies at many levels and have a modular architecture are then studied in detail. Once a mechanical architecture for fault tolerance has been derived, the chronological stages of operational fault tolerance are investigated. Failure detection, isolation, and estimation methods are surveyed, and such methods for robot sensors and actuators are derived. Failure recovery methods are also presented for each of the protective layers of redundancy. Failure recovery tactics often span all of the layers of a control hierarchy. Thus, a unified framework for decision-making and control, which orchestrates both the nominal redundancy management tasks and the failure management tasks, has been derived. The well-developed field of fault-tolerant computers is studied next, and some design principles relevant to the design of fault-tolerant robot controllers are abstracted. Conclusions are drawn, and a road map for the design of fault-tolerant manipulator systems is laid out with recommendations for a 10 DOF arm with dual actuators at each joint.

Tesar, Delbert↗
NASA NTRS2013

Development and Testing of a Variable Conductance Thermal Acquisition, Transport, and Switching System

This paper describes the development and testing of a scalable thermal management architecture for instruments, subsystems, or systems that must operate in severe space environments with wide variations in sink temperature. The architecture involves a serial linkage of one or more hot-side variable conductance heat pipes (VCHPs) to one or more cold-side loop heat pipes (LHPs). The VCHPs provide wide area heat acquisition, limited distance thermal transport, modest against gravity pumping, concentrated LHP startup heating, and high switching ratio variable conductance operation. The LHPs provide localized heat acquisition, long distance thermal transport, significant against gravity pumping, and high switching ratio variable conductance operation. The single-VCHP, single-LHP system described herein was developed to maintain thermal control of a small robotic lunar lander throughout the lunar day-night thermal cycle. It is also applicable to other variable heat rejection space missions in severe environments. Operationally, despite a 60-70% gas blocked VCHP condenser during ON testing, the system was still able to provide 2-4 W/K ON conductance, 0.01 W/K OFF conductance, and an end-to-end switching ratio of 200-400. The paper provides a detailed analysis of VCHP condenser performance, which quantified the gas blockage situation. Future multi-VCHP/multi-LHP thermal management system concepts that provide power/transport length scalability are also discussed.

Bugby, David C.↗
NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗
NASA NTRS2013

Tools for Asteroid Regolith Operations

This RFI response is targeting Area 5. Crew Systems for Asteroid Exploration: concepts for lightweight and low volume robotic and extra-vehicular activity (EVA) systems, such as space suits, tools, translation aids, stowage containers, and other equipment.The NASA KSC Surface Systems Office, Granular Mechanics and Regolith Operations (GMRO) Lab and the Electrostatics Surface Physics Lab (ESPL) are dedicated to developing technologies for operating in regolith environments on target body surfaces. We have identified two technologies in our current portfolio that are highly relevant and useful for crews that will visit a re-directed asteroid in Cis-Lunar Space. Both technologies are at a high TRL of 56 and could be rapidly implemented in time for an ARM mission in this decade.

Mueller, Robert P.↗
NASA NTRSDate not supplied

NASA Gateway Refueling Architecture and Concept of Operation

The Lunar Gateway is a deep space orbiting outpost being developed by NASA in partnership with ESA and other domestic and international partners. It is a critical component of NASA’s Artemis program supporting long-term human exploration of the moon and is designed to be refueled, requiring the on-orbit transfer of propellants. The first two modules of Gateway to be launched will be the Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO). The PPE contains the bipropellant chemical and electrical propulsion systems that will provide attitude control and orbit raising capability for Gateway. The reaction control system (RCS) utilizes monomethylhydrazine (MMH) and mixed oxides of nitrogen-3 (MON-3) as the fuel and oxidizer, respectively. Helium is used as a pressurant. The Advanced Electric Propulsion Systems (AEPS) and Busek hall thrusters that comprise the solar electric propulsion (SEP) system use xenon as the propellent. The ESPRIT Refueling Module, provided by ESA, will supply the propellant refueling function to Gateway’s propulsion systems. On-orbit refueling is a complex, technically challenging operation that is key to enabling sustainable crewed Lunar and Martian exploration. Numerous systems may be involved in the refueling operation. Also numerous systems are required to enable the successful ability for Gateway to refuel such as, SEP, RCS, Structure & Mechanisms (S&M), Guidance, Navigation and Control (GNC), Thermal, Software, Vehicle System Manager (VSM), Flight Ops, Extra Vehicular Robotics (EVR), Communication and Tracking (C&T), Avionics, and more. This paper will detail the design architecture, concept of operations, and challenges associated with the Gateway refueling system. The methodologies used in Gateway will be compared to those implemented in OSAM-1 and the best practices documented by AIAA and CONFERS (Consortium For Execution Of Rendezvous And Servicing Operations).

Brandie L. Rhodes↗
NASA NTRS2001

Workshop on Science and the Human Exploration of Mars

The exploration of Mars will be a multi-decadal activity. Currently, a scientific program is underway, sponsored by NASA's Office of Space Science in the United States, in collaboration with international partners France, Italy, and the European Space Agency. Plans exist for the continuation of this robotic program through the first automated return of Martian samples in 2014. Mars is also a prime long-term objective for human exploration, and within NASA, efforts are being made to provide the best integration of the robotic program and future human exploration missions. From the perspective of human exploration missions, it is important to understand the scientific objectives of human missions, in order to design the appropriate systems, tools, and operational capabilities to maximize science on those missions. In addition, data from the robotic missions can provide critical environmental data - surface morphology, materials composition, evaluations of potential toxicity of surface materials, radiation, electrical and other physical properties of the Martian environment, and assessments of the probability that humans would encounter Martian life forms. Understanding of the data needs can lead to the definition of experiments that can be done in the near-term that will make the design of human missions more effective. This workshop was convened to begin a dialog between the scientific community that is central to the robotic exploration mission program and a set of experts in systems and technologies that are critical to human exploration missions. The charge to the workshop was to develop an understanding of the types of scientific exploration that would be best suited to the human exploration missions and the capabilities and limitations of human explorers in undertaking science on those missions.

Duke, M. B.↗
NASA NTRS2008

Wide-Band Radar for Measuring Thickness of Sea Ice

A wide-band penetrating radar system for measuring the thickness of sea ice is under development. The need for this or a similar system arises as follows: Spatial and temporal variations in the thickness of sea ice are important indicators of heat fluxes between the ocean and atmosphere and, hence, are important indicators of climate change in polar regions. A remote-sensing system that could directly measure the thickness of sea ice over a wide thickness range from aboard an aircraft or satellite would be of great scientific value. Obtaining thickness measurements over a wide region at weekly or monthly time intervals would contribute significantly to understanding of changes in the spatial distribution and of the mass balance of sea ice. A prototype of the system was designed on the basis of computational simulations directed toward understanding what signal frequencies are needed to satisfy partly competing requirements to detect both bottom and top ice surfaces, obtain adequate penetration despite high attenuation in the lossy sea-ice medium, and obtain adequate resolution, all over a wide thickness range. The prototype of the system is of the frequency-modulation, continuous-wave (FM-CW) type. At a given time, the prototype functions in either of two frequency-band/operational-mode combinations that correspond to two thickness ranges: a lower-frequency (50 to 250 MHz) mode for measuring thickness greater than about 1 m, and a higher frequency (300 to 1,300 MHz) mode for measuring thickness less than about 1 m. The bandwidth in the higher-frequency (lesser-thickness) mode is adequate for a thickness resolution of 15 cm; the bandwidth in the lower-frequency (greater-thickness) mode is adequate for a thickness resolution of 75 cm. Although a thickness resolution of no more than 25 cm is desired for scientific purposes, the 75-cm resolution was deemed acceptable for the purpose of demonstrating feasibility. The prototype was constructed as a modified version of a 500-to-2,000-MHz FM-CW radar system developed previously for mapping near-surface internal layers of the Greenland ice sheet. The prototype included two sets of antennas: one for each frequency-band/mode. For Arctic and Antarctic field tests, the prototype was mounted on a sled that was towed across the ice. The Arctic field test was performed in the lower-frequency mode on ice ranging in thickness from 1 to 4 m. In the analysis of the results of the Arctic field test, a comparison of the radar-determined ice thicknesses with actual ice thicknesses yielded an overall mean difference of 14 cm and standard deviation of 30 cm. The Antarctic field test was performed in the higher-frequency mode; analysis of the results led to the conclusion that this mode is useful for measuring thicknesses between 0.5 and 1 m. Several modifications have been conceived for implementation in further development toward an improved practical system: The system would function in a single frequency-band/mode (100 to 1,200 MHz) that would afford a resolution of about 15 cm. There would be a single antenna system that would be optimized for the entire 100-to-1,000-MHz frequency band. To enable ice-thickness surveys over larger areas, the system would be made capable of operating aboard a low-flying aircraft that could be either piloted or robotic. Data-processing techniques to deconvolve the system response have been developed on the basis of impulse-response measurements over a calm ocean. Implementation of these techniques in the system would enable correction for imperfections of the system and would thereby increase the effective sensitivity of the system.

Gogineni, Prasad↗
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 NTRS1987

Sensor systems testbed for telerobotic navigation

A testbed has been developed for the study of sensor systems to be used in telerobotic operations. The program, conducted in conjunction with Johnson Space Center of NASA, addresses the navigational problems associated with target acquisition and rendezvous for teleoperated robotic work stations. The program will utilize a mobile platform which will support various sensor systems during their development and testing in an earth-based environment. The testbed has been developed in support of a program to develop sensor systems that will aid in rendezvous and docking operations to be conducted as a part of the space station program. A mobile platform has been used to permit testing of these components in a conventional laboratory environment with consequent savings in cost and complexity. The sensor systems, while representative of devices currently in use for robotic applications, are not considered prototypical of the ones that will be used in the final applications. The test program provided information that will support the design of system augmentations and will lead to a comprehensive test program for sensor development.

Thiele, A. W.↗
NASA NTRS1992

Tool for simulating space exploration initiative (SEI) operations as a means of obtaining intelligent systems requirements

The Lyndon B. Johnson Space Center Automation and Robotics Division has developed a simulation tool for use in evaluating the feasibility and effectiveness of proposed candidate mission concepts, such as the First Lunar Outpost design reference missions. The tool helps in defining requirements for such missions at the beginning of the definition activities and can be applied iteratively thereafter on a short cycle basis as changes are made to the mission definition. The simulation is applicable to the amount and capabilities of automation and robotics; number and skills of crew; amount of engineering work, science, and in-space materials utilization to be accomplished; impact of provision for maintenance and repair; and flight schedules and manifests. The simulation accounts for supply and demand of resources to accomplish tasks and accounts for elapsed time in carrying out mission processes and tasks.

Erickson, Jon D.↗
NASA NTRS1997

Wing Flutter Control

Through Small Business Innovation Research (SBIR) contracts from Langley Research Center, Orbital Research Inc. developed the Orbital Research Intelligent Control Algorithm (ORICA), the first practical hardware-independent adaptive predictive control structure, specifically suited for optimal control of complex, time-varying systems. ORICA technology has been applied to the problem of controlling aircraft wing flutter. Coupled with NASA expertise, the technology has the possibility of making jet travel safer, more cost effective by extending distance range, and lowering overall aircraft operating costs. Future application areas for ORICA include control of robots, power trains, systems with arrays of sensors, or regulating chemical plants or electrical power plant control.

Source record↗
NASA NTRS2017

NASA's Robotic Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design, through tele-operation of the robot collecting regolith in simulated Mars conditions, to disposal of the robot systems after the competition. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team’s score for the competition’s grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

Stecklein, Jonette↗
NASA NTRS2009

Rendezvous Integration Complexities of NASA Human Flight Vehicles

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

Brazzel, Jack P.↗
NASA NTRS2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Hebert, Paul↗