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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2001

Mini AERCam: A Free-Flying Robot for Space Inspection

The NASA Johnson Space Center Engineering Directorate is developing the Autonomous Extravehicular Robotic Camera (AERCam), a free-flying camera system for remote viewing and inspection of human spacecraft. The AERCam project team is currently developing a miniaturized version of AERCam known as Mini AERCam, a spherical nanosatellite 7.5 inches in diameter. Mini AERCam development builds on the success of AERCam Sprint, a 1997 Space Shuttle flight experiment, by integrating new on-board sensing and processing capabilities while simultaneously reducing volume by 80%. Achieving these productivity-enhancing capabilities in a smaller package depends on aggressive component miniaturization. Technology innovations being incorporated include micro electromechanical system (MEMS) gyros, "camera-on-a-chip" CMOS imagers, rechargeable xenon gas propulsion, rechargeable lithium ion battery, custom avionics based on the PowerPC 740 microprocessor, GPS relative navigation, digital radio frequency communications and tracking, micropatch antennas, digital instrumentation, and dense mechanical packaging. The Mini AERCam free-flyer will initially be integrated into an approximate flight-like configuration for laboratory demonstration on an airbearing table. A pilot-in-the-loop and hardware-in-the-loop simulation to simulate on-orbit navigation and dynamics will complement the airbearing table demonstration. The Mini AERCam lab demonstration is intended to form the basis for future development of an AERCam flight system that provides on-orbit views of the Space Shuttle and International Space Station unobtainable from fixed cameras, cameras on robotic manipulators, or cameras carried by space-walking crewmembers.

Fredrickson, Steven↗
NASA NTRS1971

Inexpensive high-temperature furnace for thermocouple calibration

New furnace calibrates unknown thermocouple by comparing its electrical output to a reference thermocouple /previously calibrated by optical pyrometry/, as both are heated simultaneously. Thermocouples may be radioactive, thus heat source must be accessible by remote manipulation and inspection measurements. Advantages of furnace operation are cited.

Gracey, C. M.↗
NASA NTRS2003

Mobile Sensor Technologies Being Developed

The NASA Glenn Research Center is developing small mobile platforms for sensor placement, as well as methods for communicating between roving platforms and a central command location. The first part of this project is to use commercially available equipment to miniaturize an existing sensor platform. We developed a five-circuit-board suite, with an average board size of 1.5 by 3 cm. Shown in the preceding photograph, this suite provides all motor control, direction finding, and communications capabilities for a 27- by 21- by 40-mm prototype mobile platform. The second part of the project is to provide communications between mobile platforms, and also between multiple platforms and a central command location. This is accomplished with a low-power network labeled "SPAN," Sensor Platform Area Network, a local area network made up of proximity elements. In practice, these proximity elements are composed of fixed- and mobile-sensor-laden science packages that communicate to each other via radiofrequency links. Data in the network will be shared by a central command location that will pass information into and out of the network through its access to a backbone element. The result will be a protocol portable to general purpose microcontrollers satisfying a host of sensor networking tasks. This network will enter the gap somewhere between television remotes and Bluetooth but, unlike 802.15.4, will not specify a physical layer, thus allowing for many data rates over optical, acoustical, radiofrequency, hardwire, or other media. Since the protocol will exist as portable C-code, developers may be able to embed it in a host of microcontrollers from commercial to space grade and, of course, to design it into ASICs. Unlike in 802.15.4, the nodes will relate to each other as peers. A demonstration of this protocol using the two test bed platforms was recently held. Two NASA modified, commercially available, mobile platforms communicated and shared data with each other and a central command location. Web-based control and interrogation of similar mobile sensor platforms have also been demonstrated. Expected applications of this technology include robotic planetary exploration, astronaut-to-equipment communication, and remote aerospace engine inspections.

FROM↗
NASA NTRS2014

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗
NASA NTRS1994

Detection of Cracks at Welds in Steel Tubing Using Flux Focusing Electromagnetic Probe

The inspection of weldments in critical pressure vessel joints is a major concern in the nuclear power industry. Corrosive environments can speed the fatigue process and access to the critical area is often limited. Eddy current techniques have begun to be used to help overcome these obstacles [1]. As direct contact and couplants are not required, remote areas can be inspected by simply snaking an eddy current coil into the intake tube of the vessel. The drawback of the eddy current method has been the high sensitivity to small changes in the conductivity and permeability of the test piece which are known to vary at weldments [1]. The flaw detection mechanism of the flux focusing electromagnetic probe can help alleviate these difficulties and provide a unique capability for detecting longitudinal fatigue cracks in critical tube structures. The Flux Focusing Electromagnetic Flaw Detector, originally invented for the detection of fatigue and corrosion damage in aluminum plates [2-3], has been adapted for use in testing steel tubing for longitudinal fatigue cracks. The modified design allows for the probe to be placed axisymmetrically into the tubing, inducing eddy currents in the tube wall. The pickup coil of the probe is fixed slightly below the primary windings and is rotated 90 so that its axis is normal to the tube wall. The magnetic flux of the primary coil is focused through the use of ferromagnetic material so that in the absence of fatigue damage there will be no flux linkage with the pickup coil. The presence of a longitudinal fatigue crack will cause the eddy currents induced in the tube wall to flow around the flaw and directly under the pickup coil. The magnetic field associated with these currents will then link the pickup coil and an unambiguous increase in the output voltage of the probe will be measured. The use of the flux focusing electromagnetic probe is especially suited for the detection of flaws originating at or near tube welds. The probe is shown to discriminate against signals due solely to the weld joint so that flaw signals are not hidden in the background in these locations. Experimental and finite element modeling results are presented for the flaw detection capabilities of the probe in stainless steel tubes.

Wincheski, Buzz↗
NASA NTRS1988

Thermographic Inspection Of Coatings

Use of infrared thermography proposed for inspection of some kinds of coatings. Sample heated radiantly from behind viewed by infrared thermography. Defects in coating visible at infrared wavelengths. Inspection technique executed by remote scanning or robotic scanning with automatic electronic detection of anomalies.

Riehl, W. A.↗
NASA NTRS1992

Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

Klarer, Paul R.↗
NASA NTRS1973

On the feasibility of benefit-cost analysis applied to remote sensing projects

The following step-wise procedure for making a benefit-cost analysis of using remote sensing techniques could be used either in the limited context of California water resources, or a context as broad as the making of integrated resource surveys of the entire earth resource complex on a statewide, regional, national, or global basis. (1) Survey all data collection efforts which can be accomplished by remote sensing techniques. (2) Carefully inspect the State of California budget and the Budget of the United States Government to find annual cost of data collection efforts. (3) Decide the extent to which remote sensing can obviate each of the collection efforts. (4) Sum the annual costs of all data collection which can be equivalently accomplished through remote sensing. (5) Decide what additional data could and would be collected through remote sensing. (6) Estimate the value of this information. It is not harmful to do a benefit-cost analysis so long as its severe limitations are recalled and it is supplemented with socio-economic impact studies.

Merewitz, L.↗
NASA NTRS1988

Space station mobile transporter

The first quarter of the next century will see an operational space station that will provide a permanently manned base for satellite servicing, multiple strategic scientific and commercial payload deployment, and Orbital Maneuvering Vehicle/Orbital Transfer Vehicle (OMV/OTV) retrieval replenishment and deployment. The space station, as conceived, is constructed in orbit and will be maintained in orbit. The construction, servicing, maintenance and deployment tasks, when coupled with the size of the station, dictate that some form of transportation and manipulation device be conceived. The Transporter described will work in conjunction with the Orbiter and an Assembly Work Platform (AWP) to construct the Work Station. The Transporter will also work in conjunction with the Mobile Remote Servicer to service and install payloads, retrieve, service and deploy satellites, and service and maintain the station itself. The Transporter involved in station construction when mounted on the AWP and later supporting a maintenance or inspection task with the Mobile Remote Servicer and the Flight Telerobotic Servicer is shown.

Renshall, James↗
NASA NTRS1987

Advanced communications, tracking, robotic vision technology for space applications

Recent advancements in the areas of tracking, communications, and robotics vision sensors being pursued within NASA, as applicable to space programs, are presented. Optical and laser-based communications and tracking systems and applications to space programs are discussed. Communication systems for multiple access, broadband, high data rate, and efficient operations are given. Current efforts at 20/30 GHz and millimeter wave bands are summarized. The use of optical data processing in control system applications for rendezvous and docking is presented. Robotics vision, based on television, laser, and microwave sensors for space applications, is discussed. The fusion of these technologies for remote control, station keeping, tracking, inspection, and satellite repair is detailed.

Krishen, Kumar↗
NASA NTRS1994

Advanced teleoperation: Technology innovations and applications

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.

Schenker, Paul S.↗
NASA NTRS2001

Think Tanks

A new inspection robot from Solex Robotics Systems was designed to eliminate hazardous inspections of petroleum and chemical storage tanks. The submersible robot, named Maverick, is used to inspect the bottoms of tanks, keeping the tanks operational during inspection. Maverick is able to provide services that will make manual tank inspections obsolete. While the inspection is conducted, Maverick's remote human operators remain safe outside of the tank. The risk to human health and life is now virtually eliminated. The risk to the environment is also minimal because there is a reduced chance of spillage from emptying and cleaning the tanks, where previously, tons of pollutants were released through the process of draining and refilling.

Source record↗
NASA NTRS2005

Transition Report for Dr. Ken Fernandez, NASA Marshall Space Flight Center

The primary objective proposed during my tenure with the NASA Administrator's Fellowship Program (NAFP) was the use of ROBOSIM, a NASA developed robot simulation software package, to introduce the first robotics class to the School of Engineering at Alabama A&M University. The students participating in the spring of 2004 chose as their class project a simulation of the Shuttle, the Shuttle Remote Manipulator System, and the inspection boom which may be used to inspect the Shuttle's tiles on-orbit. In addition to meeting this primary objective and fulfilling other activities that were required by NAFP participants, several other accomplishments are reported. Participation with the faculty of Alabama A&M in the planning and execution of the First and Second Annual Michael P. Anderson Memorial Summer Programs for minority high school students was completed. This program, funded by NASA, provided supervised "hands- on" group activities in various engineering disciplines, including robotics. A third major accomplishment during the NAFP tenure was the granting of a U.S. patent for the NASA 3-D Luggage Scanning System. International patents are also pending on this device. The device uses stereographic imaging similar to that used by NASA on the Mars Rover to enhance the contents of luggage and other items being inspected. It is believed that this device can greatly improve the efficiency and accuracy of security checkpoint screening.

Fernandez, Ken R.↗
NASA NTRS1972

Short pulse radar measurements of layered ice and snow

Using a radar system with high range resolution, it was shown that measurements of snow and ice thickness are feasible with an accuracy of better than 3 inches. In addition, the water equivalent of the snowpack can be estimated, given a single surface measurement of the snow depth. Discontinuities in density were also detected and their location determined by inspection of the radar returns. The remote measurement of layer thickness is described. The system was designed for eventual incorporation into a light aircraft.

Vickers, R. S.↗
NASA NTRS1989

Tethered Remote Manipulator

Remote-manipulator concept for retrieval or inspection of objects in outer space applied to underwater or in tanks of hazardous chemicals. System includes tether head on outer end of tether cable wound on motor-driven takeup reel. Head includes mounting plate with four canted thrustors facing rearward, solid-state camera with patterned sources of light facing forward, and pneumatic inflatable end effector. Also includes device to cut head loose in emergency. Intended for use in places beyond reach of jointed rigid-arm manipulator and where unsafe or impractical to send humans.

Bryan, Thomas C.↗
NASA NTRS1977

Construction bidding cost of KSC's space shuttle facilities

The bidding cost of the major Space Transportation System facilities constructed under the responsibility of the John F. Kennedy Space Center (KSC) is described and listed. These facilities and Ground Support Equipment (GSE) are necessary for the receiving, assembly, testing, and checkout of the Space Shuttle for launch and landing missions at KSC. The Shuttle launch configuration consists of the Orbiter, the External Tank, and the Solid Rocket Boosters (SRB). The reusable Orbiter and SRB's is the major factor in the program that will result in lowering space travel costs. The new facilities are the Landing Facility; Orbiter Processing Facility; Orbiter Approach and Landing Test Facility (Dryden Test Center, California); Orbiter Mating Devices; Sound Suppression Water System; and Emergency Power System for LC-39. Also, a major factor was to use as much Apollo facilities and hardware as possible to reduce the facilities cost. The alterations to existing Apollo facilities are the VAB modifications; Mobile Launcher Platforms; Launch Complex 39 Pads A and B (which includes a new concept - the Rotary Service Structure), which was featured in ENR, 3 Feb. 1977, 'Hinged Space Truss will Support Shuttle Cargo Room'; Launch Control Center mods; External Tank and SRB Processing and Storage; Fluid Test Complex mods; O&C Spacelab mods; Shuttle mods for Parachute Facility; SRB Recovery and Disassembly Facility at Hangar 'AF'; and an interesting GSE item - the SRB Dewatering Nozzle Plug Sets (Remote Controlled Submarine System) used to inspect and acquire for reuse of SRB's.

Brown, Joseph Andrew↗
NASA NTRS1995

Shearographic non-destructive evaluation of space shuttle thermal protection systems

Preliminary results of shearographic inspections of the shuttle external tank (ET) spray-on foam insulation (SOFI) and solid rocket booster (SRB) Marshall sprayable ablative (MSA-2) epoxy-cork thermal protection systems (TPS) are presented. Debonding SOFI or MSA-2 damage the orbiter 'belly' tile and exposes the ET/SRB to thermal loading. Previous work with the ET/SRB showed promising results with shearography. The first area investigated was the jack pad close-out, one of many areas on the ET where foam is applied at KSC. Voids 0.375 inch were detected in 1.75 inch thick foam using a pressure reduction of less than 0.4 psi. Of primary interest are areas of the ET that directly face the orbiter tile TPS. It is estimated that 90% of tile TPS damage on the orbiter 'belly' results from debonding SOFI during ascent. Test panels modeling these areas were manufactured with programmed debonds to determine the sensitivity of shearography as a function of debond size, SOFI thickness and vacuum. Results show repeatable detection of debonds with a diameter approximately half the SOFI thickness at less than 0.4 psi pressure reduction. Preliminary results are also presented on inspections of MSA-2 and the remote manipulator system (RMS) honeycomb material

Hooker, Jeffrey A.↗
NASA NTRS1995

Sprint: The first flight demonstration of the external work system robots

The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

Price, Charles R.↗