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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 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 NTRS1988

External tank program productivity and quality enhancements - A case study

The optimization of the Manned Space Systems productivity and quality enhancement program is described. The guidelines and standards of the program and the roles played in it by various employee groups are addressed. Aspects of the program involving job/organization redefinition, production and planning in automation, and artificial intelligence and robotics are examined.

Locke, S. R.↗
NASA NTRS1990

Removing Dross From Molten Solder

Automatic device helps to assure good solder connections. Machine wipes dross away from area on surface of molten solder in pot. Sweeps across surface of molten solder somewhat in manner of windshield wiper. Each cycle of operation triggered by pulse from external robot. Equipment used wherever precise, automated soldering must be done to military specifications.

Webb, Winston S.↗
NASA NTRS1992

Customized ATP towpreg

Automated tow placement (ATP) utilizes robotic technology to lay down adjacent polymer-matrix-impregnated carbon fiber tows on a tool surface. Consolidation and cure during ATP requires that void elimination and polymer matrix adhesion be accomplished in the short period of heating and pressure rolling that follows towpreg ribbon placement from the robot head to the tool. This study examined the key towpreg ribbon properties and dimensions which play a significant role in ATP. Analysis of the heat transfer process window indicates that adequate heating can be achieved at lay down rates as high as 1 m/sec. While heat transfer did not appear to be the limiting factor, resin flow and fiber movement into tow lap gaps could be. Accordingly, consideration was given to towpreg ribbon having uniform yet non-rectangular cross sections. Dimensional integrity of the towpreg ribbon combined with customized ribbon architecture offer great promise for processing advances in ATP of high performance composites.

Sandusky, Donald A.↗
NASA NTRS1995

Compact Multifunction Inspection Head

Multiple-sensor inspection head designed to be mounted at tip of robot arm for performing multiple automated and/or remotely controlled inspection functions. Inspection head houses optoelectronic sensors, electrochemical sensor, sources of illumination, and parallel-jaw gripper.

Volpe, Richard A.↗
NASA NTRS1994

Dual-Use Space Technology Transfer Conference and Exhibition, Volume 1

This document contains papers presented at the Dual-Use Space Technology Transfer Conference and Exhibition held at the Johnson Space Center February 1-3, 1994. Possible technology transfers covered during the conference were in the areas of information access; innovative microwave and optical applications; materials and structures; marketing and barriers; intelligent systems; human factors and habitation; communications and data systems; business process and technology transfer; software engineering; biotechnology and advanced bioinstrumentation; communications signal processing and analysis; new ways of doing business; medical care; applications derived from control center data systems; human performance evaluation; technology transfer methods; mathematics, modeling, and simulation; propulsion; software analysis and decision tools systems/processes in human support technology; networks, control centers, and distributed systems; power; rapid development perception and vision technologies; integrated vehicle health management; automation technologies; advanced avionics; ans robotics technologies. More than 77 papers, 20 presentations, and 20 exhibits covering various disciplines were presented b experts from NASA, universities, and industry.

Kumar Krishen↗
NASA NTRS1994

Dual-Use Space Technology Transfer Conference and Exhibition

This is the second volume of papers presented at the Dual-Use Space Technology Transfer Conference and Exhibition held at the Johnson Space Center February 1-3, 1994. Possible technology transfers covered during the conference were in the areas of information access; innovative microwave and optical applications; materials and structures; marketing and barriers; intelligent systems; human factors and habitation; communications and data systems; business process and technology transfer; software engineering; biotechnology and advanced bioinstrumentation; communications signal processing and analysis; medical care; applications derived from control center data systems; human performance evaluation; technology transfer methods; mathematics, modeling, and simulation; propulsion; software analysis and decision tools; systems/processes in human support technology; networks, control centers, and distributed systems; power; rapid development; perception and vision technologies; integrated vehicle health management; automation technologies; advanced avionics; and robotics technologies.

Krishen, Kumar↗
NASA NTRS2004

Teleoperated Modular Robots for Lunar Operations

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Globus, Al↗
NASA NTRS2004

Verifying Diagnostic Software

Livingstone PathFinder (LPF) is a simulation-based computer program for verifying autonomous diagnostic software. LPF is designed especially to be applied to NASA s Livingstone computer program, which implements a qualitative-model-based algorithm that diagnoses faults in a complex automated system (e.g., an exploratory robot, spacecraft, or aircraft). LPF forms a software test bed containing a Livingstone diagnosis engine, embedded in a simulated operating environment consisting of a simulator of the system to be diagnosed by Livingstone and a driver program that issues commands and faults according to a nondeterministic scenario provided by the user. LPF runs the test bed through all executions allowed by the scenario, checking for various selectable error conditions after each step. All components of the test bed are instrumented, so that execution can be single-stepped both backward and forward. The architecture of LPF is modular and includes generic interfaces to facilitate substitution of alternative versions of its different parts. Altogether, LPF provides a flexible, extensible framework for simulation-based analysis of diagnostic software; these characteristics also render it amenable to application to diagnostic programs other than Livingstone.

Lindsey, Tony↗
NASA NTRS2021

Logistics Reduction: RFID Enabled Autonomous Logistics Management (REALM) (LR-REALM)

The Advanced Exploration Systems (AES) Logistics Reduction (LR) project Radio-frequency identification (RFID) Enabled Autonomous Logistics Management (REALM) task focuses on the subset of autonomous logistics management functions pertaining to automated localization and inventory of all physical assets pertaining to, or within, a vehicle utilizing RFID technologies. REALM technology can provide detailed data to enable autonomous operations such as automated crew procedure generation and robotic interaction with logistics and deep space habitats; this is especially of value where communication delays with Earth drive the need for self-reliance. The REALM project will conduct a series of ISS technology demonstrations. The first ISS demonstration, REALM-1, started in February 2017 and was completed at the end of FY19 when it was transitioned to the ISS program for sustaining operations. The second ISS demonstration, REALM-2, started late2019 and will continue for at least one year.

NASA TechPort↗
NASA NTRSDate not supplied

Astrobee: Improving Capabilities for Free Flying Robotic Technology Demonstrations

The Astrobee Project has completed three years operating inside the ISS. Three Astrobee Free Flyers reached the ISS in April 2019 and are currently hosting a variety of users. During this time, Astrobee has advanced the state of the art in free-flying robots on ISS, operated over 100 sessions, logged over 750 hours of free-flyer operation, and made several capability improvements. Astrobee’s primary objective is to provide a highly flexible and capable free-flying robotic research platform to enable future guest scientist investigations. However, Astrobee is also demonstrating the feasibility of intra-vehicular robots (IVR) for performing key caretaking functions within exploration vehicles as part of NASA’s Moon-to-Mars exploration strategy. IVR capabilities will be especially vital during uncrewed mission phases. For example, current plans call for the lunar Gateway to be uncrewed >85% of the time. Astrobee’s baseline implementation supports free-flying camera and sensor survey use cases. Astrobee guest scientists can deploy software updates and hardware payloads to extend its capabilities. Astrobee is continuously improving its navigation robustness, general flight software maturity, and ISS interior maps, both through the baseline Astrobee operations and with the help of the ISAAC project. Astrobee began with mapping, localization, and operations in the Japanese Experiment Module (JEM), and has expanded to mapping in Node 2 and the US Lab. Astrobee has improved localization and operational robustness through improved mapping processes, algorithm updates (Soussan 2022) that reduce the occurrences of lost localization as well as developed recovery techniques to return to a good localization fix when loss of localization does occur. Future guest science experiments currently in development could demonstrate cargo transfer, fault isolation, free flyer and stationary robot collaboration, microgravity fluid transfer, and new docking mechanisms, among others. This presentation will focus on 1) Astrobee technical capabilities 2) What Astrobee can provide to a guest science experiment 3) Astrobee’s recent improvements 4) Possibilities for using Astrobee for future investigations. Soussan, R., Kumar, V., Coltin, B. and Smith, T. (2022) AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot, Proc. Int. Conf. Rob. Autom. (ICRA) [to appear]

Astrobee↗
NASA NTRSDate not supplied

MEAD In-situ Sampling and Testing at Haughton Crater

The Mars Exploration through Analog-site Drilling (MEAD) project is designed to demonstrate the feasibility and scientific value of robotic drilling missions to Mars in the search for evidence of past or extant life. MEAD conducts high-fidelity field simulations integrating drilling, autonomous operations, and in-situ life-detection and mineralogical instruments. The project tests the Signs of Life Detector (SOLID), proposed for the 2019 Discovery Mars Icebreaker mission, and ARIA (Astronaut Raman Instrument for ISRU and Astrobiology), which provides mineral identification and detects trace organics and volatiles, including indicators of organic thermal maturity. Because current and planned Mars drilling missions operate largely “blind,” MEAD also evaluates the use of drill-induced vibrations recorded by deployed geophones to enable local subsurface mapping for improved targeting of drilling and sampling. In August 2025, MEAD completed its first-year field deployment to Haughton Crater in the Canadian High Arctic, an established Mars impact-crater terrestrial analog site, bringing a Honeybee Robotics TRIDENT drill with applied automation, alongside ARIA, SOLID, and FleetSpace geophones.

Haughton Crater↗
NASA NTRS1994

The Automated Aircraft Rework System (AARS): A system integration approach

The Mercer Engineering Research Center (MERC), under contract to the United States Air Force (USAF) since 1989, has been actively involved in providing the Warner Robins Air Logistics Center (WR-ALC) with a robotic workcell designed to perform rework automated defastening and hole location/transfer operations on F-15 wings. This paper describes the activities required to develop and implement this workcell, known as the Automated Aircraft Rework System (AARS). AARS is scheduled to be completely installed and in operation at WR-ALC by September 1994.

Benoit, Michael J.↗
NASA NTRS2024

Valkyrie Robot Capability Demonstration: Thermal Camera and Body Stored Hand-Tool Usage

A video that provides an automated tool grasp industrial scenario for the NASA Valkyrie Robot from the NASA Dexterous Robotics Team. The scenario is where the Valkyrie uses externally mounted sensors and tools to investigate a room for objects of interest and removes any hazards. Video running time is 4 min., 56 sec.; in color with no sound.

Valkyrie↗
NASA NTRS2013

NASA Tech Briefs, September 2013

Topics include: ISS Ammonia Leak Detection Through X-Ray Fluorescence; A System for Measuring the Sway of the Vehicle Assembly Building; Fast, High-Precision Readout Circuit for Detector Arrays; Victim Simulator for Victim Detection Radar; Hydrometeor Size Distribution Measurements by Imaging the Attenuation of a Laser Spot; Quasi-Linear Circuit; High-Speed, High-Resolution Time-to-Digital Conversion; Li-Ion Battery and Supercapacitor Hybrid Design for Long Extravehicular Activities; Ultrasonic Low-Friction Containment Plate for Thermal and Ultrasonic Stir Weld Processes; High-Powered, Ultrasonically Assisted Thermal Stir Welding; Next-Generation MKIII Lightweight HUT/Hatch Assembly; Centrifugal Sieve for Gravity-Level-Independent Size; Segregation of Granular Materials; Ion Exchange Technology Development in Support of the Urine Processor Assembly; Nickel-Graphite Composite Compliant Interface and/or Hot Shoe Material; UltraSail CubeSat Solar Sail Flight Experiment; Mechanism for Deploying a Long, Thin-Film Antenna From a Rover; Counterflow Regolith Heat Exchanger; Acquisition and Retaining Granular Samples via a Rotating Coring Bit; Very-Low-Cost, Rugged Vacuum System; Medicine Delivery Device With Integrated Sterilization and Detection; FRET-Aptamer Assays for Bone Marker Assessment, C-Telopeptide, Creatinine, and Vitamin D; Multimode Directional Coupler for Utilization of Harmonic Frequencies from TWTAs; Dual-Polarization, Multi-Frequency Antenna Array for use with Hurricane Imaging Radiometer; Complementary Barrier Infrared Detector (CBIRD) Contact Methods; Autonomous Control of Space Nuclear Reactors; High-Power, High-Speed Electro-Optic Pockels Cell Modulator; Covariance Analysis Tool (G-CAT) for Computing Ascent, Descent, and Landing Errors; Enigma Version 12; Micrometeoroid and Orbital Debris (MMOD) Shield Ballistic Limit Analysis Program; Spitzer Telemetry Processing System; Planetary Protection Bioburden Analysis Program; Wing Leading Edge RCC Rapid Response Damage Prediction Tool (IMPACT2); ISSM: Ice Sheet System Model; Automated Loads Analysis System (ATLAS); Integrated Main Propulsion System Performance Reconstruction Process/Models. Phoenix Telemetry Processor; Contact Graph Routing Enhancements Developed in ION for DTN; GFEChutes Lo-Fi; Advanced Strategic and Tactical Relay Request Management for the Mars Relay Operations Service; Software for Generating Troposphere Corrections for InSAR Using GPS and Weather Model Data; Ionospheric Specifications for SAR Interferometry (ISSI); Implementation of a Wavefront-Sensing Algorithm; Sally Ride EarthKAM - Automated Image Geo-Referencing Using Google Earth Web Plug-In; Trade Space Specification Tool (TSST) for Rapid Mission Architecture (Version 1.2); Acoustic Emission Analysis Applet (AEAA) Software; Memory-Efficient Onboard Rock Segmentation; Advanced Multimission Operations System (ATMO); Robot Sequencing and Visualization Program (RSVP); Automating Hyperspectral Data for Rapid Response in Volcanic Emergencies; Raster-Based Approach to Solar Pressure Modeling; Space Images for NASA JPL Android Version; Kinect Engineering with Learning (KEWL); Spacecraft 3D Augmented Reality Mobile App; MPST Software: grl_pef_check; Real-Time Multimission Event Notification System for Mars Relay; SIM_EXPLORE: Software for Directed Exploration of Complex Systems; Mobile Timekeeping Application Built on Reverse-Engineered JPL Infrastructure; Advanced Query and Data Mining Capabilities for MaROS; Jettison Engineering Trajectory Tool; MPST Software: grl_suppdoc; PredGuid+A: Orion Entry Guidance Modified for Aerocapture; Planning Coverage Campaigns for Mission Design and Analysis: CLASP for DESDynl; and Space Place Prime.

Source record↗
NASA NTRS1993

Rack Insertion End Effector (RIEE) automation

NASA is developing a mechanism to manipulate and insert Racks into the Space Station Logistic modules. The mechanism consists of the following: a base with three motorized degrees of freedom, a 3 section motorized boom that goes from 15 to 44 feet in length, and a Rack Insertion End Effector (RIEE) with 5 hand wheels for precise alignment. The robotics section was tasked with the automation of the RIEE unit. In this report, for the automation of the RIEE unit, application of the Perceptics Vision System was conceptually developed to determine the position and orientation of the RIEE relative to the logistic module, and a MathCad program is written to display the needed displacements for precise alignment and final insertion of the Rack. The uniqueness of this report is that the whole report is in fact a MathCad program including text, derivations, and executable equations with example inputs and outputs.

Malladi, Narasimha↗
NASA NTRS1997

Three d.o.f. Robotic Wrist Actuator Redesign

This paper describes the efforts to redesign, fabricate, assemble and test the wrist actuators on the Automated Tile Processing System (ATPS). The ATPS is a robotic system being developed at Kennedy Space Center to inspect and rewaterproof thermal protection tiles on the space shuttle orbiter prior to launch. The objective of the redesign was to eliminate backlash and provide adequate pitch and yaw actuator force. The wrist actuators have been successfully redesigned, fabricated, tested, and installed. The redesigned wrist actuators meet or exceed all design requirements. The wrist has been reinstalled on the tile processing robot and will be further evaluated during operational testing of the system.

Bonner, Tom↗