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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 451 records · Page 25
All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Locomotion of Amorphous Surface Robots

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Bradley, Arthur T.↗
DOE OSTI2021

System and method for passive assay of holdup deposits in nuclear piping

Disclosed herein are a method, apparatus, and software for passive, non-destructive assay of holdup deposits in nuclear piping by in-pipe apparatus. A detector deployed within a pipe is collimated to observe radiation impinging radially inward from decay of deposits that lie on the pipe wall. A radiation detector is centered in the pipe and collimated by a pair of coaxial shielding discs disposed equidistant from the detector. This arrangement causes radiation from a truncated cylinder of pipe deposit within a field of regard to impinge on the detector, while precluding radiation emanating from pipe walls beyond the field of regard from reaching the detector. Hence, observations are unique to a known cylindrical length of pipe. The detector assembly is translated through pipes by an autonomous mobile robotic apparatus. Computer software controls the robotic apparatus, logs data, and post-processes to assay deposits.

Whittaker, William Lawrence↗
NASA NTRS1994

Truss structure tele-manipulation experiment using ETS-7

A robot experiment concept of space truss telemanipulation by National Aerospace Laboratory (NAL) is described in its flight model development. The experiment will be carried out on the Engineering Test Satellite No. 7 (ETS-7) using its robot arm. The satellite is scheduled to be launched in 1997 by National Space Development Agency of Japan (NASDA). The truss flight model is composed of deployable truss system and assemble truss joint. Those truss components will be manipulated by the ETS-7 robot arm using its small grapple fixture type-N (GPF-N), and the experimental task operation will be executed from the ground control station.

Matsumoto, Kohtaro↗
NASA NTRS1987

Monitoring robot actions for error detection and recovery

Reliability is a serious problem in computer controlled robot systems. Although robots serve successfully in relatively simple applications such as painting and spot welding, their potential in areas such as automated assembly is hampered by programming problems. A program for assembling parts may be logically correct, execute correctly on a simulator, and even execute correctly on a robot most of the time, yet still fail unexpectedly in the face of real world uncertainties. Recovery from such errors is far more complicated than recovery from simple controller errors, since even expected errors can often manifest themselves in unexpected ways. Here, a novel approach is presented for improving robot reliability. Instead of anticipating errors, researchers use knowledge-based programming techniques so that the robot can autonomously exploit knowledge about its task and environment to detect and recover from failures. They describe preliminary experiment of a system that they designed and constructed.

Gini, M.↗
DOE OSTI2024

Responsive‐Hydrogel Aquabots

Abstract It remains a challenge to produce soft robots that can mimic the responsive adaptability of living organisms. Rather than fabricating soft robots from bulk hydrogels,hydrogels are integrated into the interfacial assembly of aqueous two‐phase systems to generate ultra‐soft and elastic all‐aqueous aquabots that exhibit responsive adaptability, that can shrink on demand and have electrically conductive functions. The adaptive functions of the aquabots provide a new platform to develop minimally invasive surgical devices, targeted drug delivery systems, and flexible electronic sensors and actuators.

42 ENGINEERING↗
NASA NTRS2012

Structural Verification of the First Orbital Wonder of the World - The Structural Testing and Analysis of the International Space Station (ISS)

The International Space Station (ISS) can be considered one of the structural engineering wonders of the world. On par with the World Trade Center, the Colossus of Rhodes, the Statue of Liberty, the Great Pyramids, the Petronas towers and the Burj Khalifa skyscraper of Dubai, the ambition and scope of the ISS structural design, verification and assembly effort is a truly global success story. With its on-orbit life projected to be from its beginning in 1998 to the year 2020 (and perhaps beyond), all of those who participated in its development can consider themselves part of an historic engineering achievement representing all of humanity. The structural design and verification of the ISS could be the subject of many scholarly papers. Several papers have been written on the structural dynamic characterization of the ISS once it was assembled on-orbit [1], but the ground-based activities required to assure structural integrity and structural life of the individual elements from delivery to orbit through assembly and planned on-orbit operations have never been totally summarized. This paper is intended to give the reader an overview of some of the key decisions made during the structural verification planning for the elements of the U.S. On-Orbit Segment (USOS) as well as to summarize the many structural tests and structural analyses that were performed on its major elements. An effort is made for this paper to be summarily comprehensive, but as with all knowledge capture efforts of this kind, there are bound to be errors of omission. Should the reader discover any of these, please feel free to contact the principal author. The ISS (Figure 1) is composed of pre-integrated truss segments and pressurized elements supplied by NASA, the Russian Federal Space Agency (RSA), the European Space Agency (ESA) and the Japanese Aerospace Exploration Agency (JAXA). Each of these elements was delivered to orbit by a launch vehicle and connected to one another either robotically or autonomously. The primary structure of each element was assembled and verified by teams of responsible structural engineers within and among their respective agencies and agency contractors.

Zipay, John J.↗
NASA NTRS1990

Automated assembly of large space structures

A research program to evaluate telerobotic methods for inspace assembly of large truss structures has been initiated at the NASA Langley Research Center. A commercial robot is mounted on a carriage positioning system and a tetrahedral truss, which is composed of 102 members each 2 m long, is assembled on a rotating motion-base. The facility system is described including details of characterization tests on the truss structure. The current status of the assembly tests is discussed and observations from these tests indicate that no problems have been encountered that would prohibit automated telerobotic assembly from being a viable inspace construction method.

Rhodes, Marvin D.↗
NASA NTRS2001

Instrument technologies for the detection of extraterrestrial intersteller robotic probes.

In the continuing endeavor to detect evidence of ETI (Extraterrestrial Intelligence) in the solar neighborhood, instrument technologies now exist that allow the formation of a scientific method to carry out a search for interstellar robotic probes of possible extraterrestrial origin. The range of currently observable probe features/manifestations will be shown and how they influence search space, instrument selection and deployment. Autonomous instrument platforms (i.e. robotic observatories) to search for anomalous energy signatures can be designed and assembled using Commercial off-the-shelf (COTS) hardware and software. The COTS approach to observatory design provides an economical, flexible and robust path toward collecting reliable data. The present variety of COTS instruments permits the necessary observational sensitivity , bandwidth and embedded processing speed to establish a nearby robotic probe detection envelope. A survey of these instrument technologies will be presented and how they can be applied to the challenge of collecting enough scientific data on anomalous observational phenomena to determine whether or not a robotic probe was detected

Stride, Scot Lloyd↗
NASA NTRS2022

Electrical Ground Support Equipment for the Sampling Caching System of the Mars 2020 Rover

In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.

Levine, Dan↗
NASA NTRSDate not supplied

Maneuverable Automated Tethered Space Tug Simulator

This TIP will develop autonomous capabilities for the space tugs in the Flat Floor Robotics Laboratory (FFRL) for use in support of In-Space Servicing, Assembly, and Manufacturing (ISAM) and future vehicles in the FFRL. The space tugs would be housed on larger spacecraft, such as ISS or Gateway, and deployed for various ISAM activities. When these activities are complete, the space tug can be reeled back to its host spacecraft.

Flat Floor Robotics Lab↗
DOE OSTI2023

Robotics Plan in Support of DOME Testbed Operations

Various robotic tooling options have been evaluated for the NRIC DOME concept of operations (ConOps). Framatome was contracted to develop a wide-ranging list of commercial off the shelf (COTS) and custom robotic systems to be considered for performing the DOME ConOps functions. Subsequent project tasks from Framatome narrowed down the list and scored the most viable options. The abbreviated list, and associated scoring, has been reviewed and assessed to provide formal recommendations for the robotic ConOps functions of DOME. The overhead telescoping mast & Kraft arm assembly is recommended as the primary system for reactor demobilization and removal. The estimated cost is $\$700$K with a timeline to develop and deliver of about 2.5 years. The mast & Kraft arm would still require an overhead lift system for mobilization and installation. Either the refurbished polar crane or a new gantry crane delivery platform could both serve as the overhead lift and delivery system. The estimated costs for the refurbishment polar crane and new gantry crane systems are, respectively, $\$4.4$M and $\$3$M with about 2.5 years to develop and deliver. A Brokk + Kraft crawler & arm is recommended as a secondary robotic system to support the overhead mast & Kraft arm system. The Brokk + Kraft crawler & arm would cost an estimated $\$726$k and would take about 1.5 years to develop and deliver. The Boston Dynamics SPOT robot is also recommended for the in-service monitoring during experimentation operations. The estimated cost is $\$220$K with a timeline to deliver of 8-14 months. The Elios 3 aerial drone is recommended to perform large area radiation dose rate mapping and visual inspections. The estimated cost is a $\$100$K and will also need about 8-14 months to develop and deliver. A mockup rig is also recommended to be procured an employed to test & verify the robotic capabilities as well as provide needed training for operations personnel. It is estimated that a mockup rig would cost about $\$500$k and would take up to a year to develop and build.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
NASA NTRS1984

Mars exploration in the 1990's

Science objectives for a Mars exploration program in the 1990s, set forth by NASA's Committee on Planetary Exploration, are presented. They include: an intensive study of the Martian surface, the exploration of the structure and general circulation of the atmosphere, the exploration of the nature and dynamics of the planet's interior, the nature of Mars's magnetic field, the character of the upper atmosphere and its interaction with the solar wind, and the establishment of the global chemical and physical characteristics of the Martian surface. Several low cost missions, which have been suggested by the Committee for NASA's CORE program, such as the Mars Geoscience Climatology Observer, the Mars Aeronomy Orbiter, and the Mars Surface Network and Surface Probing missions are also covered. Direct Entry-Direct Return and Out-of-Orbit Entry-Orbital Rendezvous and Docking are two versions of a Mars Rover and Sample Return (MRSR) mission discussed in detail. It is concluded that a MRSR mission will require the combination of full Centaur capability, aerocapture at Mars and earth, and direct return to earth to meet major scientific goals. Further studies should be made in orbit assembly, fuel transfer technology, aeromaneuvering, terminal guidance, rover technology, and robotics.

Albee, A. L.↗
NASA NTRS1986

Space station support of manned Mars missions

The assembly of a manned Mars interplanetary spacecraft in low Earth orbit can be best accomplished with the support of the space station. Station payload requirements for microgravity environments of .001 g and pointing stability requirements of less than 1 arc second could mean that the spacecraft may have to be assembled at a station-keeping position about 100 meters or more away from the station. In addition to the assembly of large modules and connective structures, the manned Mars mission assembly tasks may include the connection of power, fluid, and data lines and the handling and activation of components for chemical or nuclear power and propulsion systems. These assembly tasks will require the use of advanced automation and robotics in addition to Orbital Maneuvering Vehicle and Extravehicular Activity (EVA) crew support. Advanced development programs for the space station, including on-orbit demonstrations, could also be used to support manned Mars mission technology objectives. Follow-on studies should be conducted to identify space station activities which could be enhanced or expanded in scope (without significant cost and schedule impact) to help resolve key technical and scientific questions relating to manned Mars missions.

Holt, Alan C.↗
NASA NTRS1992

Robotic Gripper With Force Control And Optical Sensors

Robotic gripper locates, measures, recognizes and manipulates objects in assembly-line setting. Fiber-optic sensors in fingertips help locate and identify object. Gripper grasps object and determines size from finger-position feedback, while grasped under force control. Prototype handles geranium cuttings in commercial greenhouse, basic concept and design modified for other objects (rods or nuts), including sorting to size.

Montgomery, James L.↗
NASA NTRS1993

A compact roller-gear pitch-yaw joint module: Design and control issues

Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.

Dohring, Mark E.↗
NASA NTRS2002

Space Operations Analysis Using the Synergistic Engineering Environment

The Synergistic Engineering Environment has been under development at the NASA Langley Research Center to aid in the understanding of the operations of spacecraft. This is accomplished through the integration of multiple data sets, analysis tools, spacecraft geometric models, and a visualization environment to create an interactive virtual simulation of the spacecraft. Initially designed to support the needs of the International Space Station, the SEE has broadened the scope to include spacecraft ranging from low-earth orbit to deep space missions. Analysis capabilities within the SEE include rigid body dynamics, kinematics, orbital mechanics, and payload operations. This provides the user the ability to perform real-time interactive engineering analyses in areas including flight attitudes and maneuvers, visiting vehicle docking scenarios, robotic operations, plume impingement, field of view obscuration, and alternative assembly configurations. The SEE has been used to aid in the understanding of several operational procedures related to the International Space Station. This paper will address the capabilities of the first build of the SEE, present several use cases of the SEE, and discuss the next build of the SEE.

Angster, Scott↗