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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 541 records · Page 30

All sources NASA NTRS DOE OSTI

NASA NTRS1992

Control of nonlinear systems using terminal sliding modes

The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.

Venkataraman, S. T.↗

NASA NTRS2018

Uninstalled Performance Predictions of a Magnesium-Fueled Ramjet Cycle in Carbon Dioxide Atmospheres

Evaluation of alternative propulsion cycles for planetary space exploration applications is motivated by ongoing emphasis of robotic science and human exploration missions and concepts. Atmosphere-breathing propulsion systems operating on their own or in a combined cycle with other engines offer the potential to increase overall propulsion efficiency and reduce the amount of propellant that must be carried on board the vehicle. The purpose of this paper is to evaluate the idealized uninstalled performance characteristics of metal-fueled ramjet systems operating in carbon dioxide atmospheres. Physics-based predictions are presented for critical and a range of supercritical conditions of the propulsion cycle.

Axdahl, Erik L.↗

NASA NTRS2026

Swamp Works Regolith Compaction Technologies

While the level of compaction below the lunar surface increases quickly after only a few cm of depth, in many cases during a construction mission there will be a need to excavate and transport regolith to a new location for cut-and-fill or horizontal construction of structures such as berms. In these cases to achieve high levels of bulk density, compaction must be per-formed. Additionally, in some cases surface technolo-gies such as systems that sinter/melt the surface may desire the maximum possible compaction at the sur-face to improve melting/heating performance and the final material strength properties. Kennedy Space Center’s (KSC) Swamp Works has developed two means of compaction, lunar and mar-tian compaction. Planetary Autonomous Compaction Technology (PACT) which is part of the Multifunction End Effector for Regolith Compaction Acquisition and Transfer (MEERCAT [1]) robotic arm end effector system’s capabilities and the Site Preparation Tooling for Operations on Mobility Platforms (STOMP [2]) vibratory roller compactor. PACT on MEERCAT has been demonstrated to a TRL 5 and STOMP to a TRL 4 in ambient testing. The results of PACT on MEERCAT and STOMP testing will be shared with results for various simulants including BP-1, ICN-LHT-1G (aka CSM-LHT-1G), RDW-LHT-1GH (a simulant developed for the Mason Tipping Point to match characteristics of ICN-LHT-1G), and Exolith LHS-1E. This will also include discus-sions on methods used to verify relative density before and after compaction and means to verify density effects below depth. To calculate relative density, maximum and minimum densities for simulants were taken from literature [3] [4] [5] and additional lab test-ing (publication in work).

vibration↗

NASA NTRSDate not supplied

Swamp Works Regolith Compaction Technologies

While the level of compaction below the lunar surface increases quickly after only a few cm of depth, in many cases during a construction mission there will be a need to excavate and transport regolith to a new location for cut-and-fill or horizontal construction of structures such as berms. In these cases to achieve high levels of bulk density, compaction must be per-formed. Additionally, in some cases surface technologies such as systems that sinter/melt the surface may desire the maximum possible compaction at the sur-face to improve melting/heating performance and the final material strength properties. Kennedy Space Center’s (KSC) Swamp Works has developed two means of compaction, lunar and mar-tian compaction. Planetary Autonomous Compaction Technology (PACT) which is part of the Multifunction End Effector for Regolith Compaction Acquisition and Transfer (MEERCAT) robotic arm end effector system’s capabilities and the Site Preparation Tooling for Operations on Mobility Platforms (STOMP) vibratory roller compactor. PACT on MEERCAT has been demonstrated to a TRL 5 and STOMP to a TRL 4 in ambient testing. The results of PACT on MEERCAT and STOMP testing will be shared with results for various simulants including BP-1, ICN-LHT-1G (aka CSM-LHT-1G), RDW-LHT-1GH (a simulant developed for the Mason Tipping Point to match characteristics of ICN-LHT-1G), and Exolith LHS-1E. This will also include discussions on methods used to verify relative density before and after compaction and means to verify density effects below depth. To calculate relative density, maximum and minimum densities for simulants were taken from literature and additional lab testing (publication in work).

redwire↗

NASA NTRS2009

Spinoff 2009

Topics covered include: Image-Capture Devices Extend Medicine's Reach; Medical Devices Assess, Treat Balance Disorders; NASA Bioreactors Advance Disease Treatments; Robotics Algorithms Provide Nutritional Guidelines; "Anti-Gravity" Treadmills Speed Rehabilitation; Crew Management Processes Revitalize Patient Care; Hubble Systems Optimize Hospital Schedules; Web-based Programs Assess Cognitive Fitness; Electrolyte Concentrates Treat Dehydration; Tools Lighten Designs, Maintain Structural Integrity; Insulating Foams Save Money, Increase Safety; Polyimide Resins Resist Extreme Temperatures; Sensors Locate Radio Interference; Surface Operations Systems Improve Airport Efficiency; Nontoxic Resins Advance Aerospace Manufacturing; Sensors Provide Early Warning of Biological Threats; Robot Saves Soldier's Lives Overseas (MarcBot); Apollo-Era Life Raft Saves Hundreds of Sailors; Circuits Enhance Scientific Instruments and Safety Devices; Tough Textiles Protect Payloads and Public Safety Officers; Forecasting Tools Point to Fishing Hotspots; Air Purifiers Eliminate Pathogens, Preserve Food; Fabrics Protect Sensitive Skin from UV Rays; Phase Change Fabrics Control Temperature; Tiny Devices Project Sharp, Colorful Images; Star-Mapping Tools Enable Tracking of Endangered Animals; Nanofiber Filters Eliminate Contaminants; Modeling Innovations Advance Wind Energy Industry; Thermal Insulation Strips Conserve Energy; Satellite Respondent Buoys Identify Ocean Debris; Mobile Instruments Measure Atmospheric Pollutants; Cloud Imagers Offer New Details on Earth's Health; Antennas Lower Cost of Satellite Access; Feature Detection Systems Enhance Satellite Imagery; Chlorophyll Meters Aid Plant Nutrient Management; Telemetry Boards Interpret Rocket, Airplane Engine Data; Programs Automate Complex Operations Monitoring; Software Tools Streamline Project Management; Modeling Languages Refine Vehicle Design; Radio Relays Improve Wireless Products; Advanced Sensors Boost Optical Communication, Imaging; Tensile Fabrics Enhance Architecture Around the World; Robust Light Filters Support Powerful Imaging Devices; Thermoelectric Devices Cool, Power Electronics; Innovative Tools Advance Revolutionary Weld Technique; Methods Reduce Cost, Enhance Quality of Nanotubes; Gauging Systems Monitor Cryogenic Liquids; Voltage Sensors Monitor Harmful Static; and Compact Instruments Measure Heat Potential.

Source record↗

NASA NTRS2005

Enabling New Operations Concepts for Lunar and Mars Exploration

The planning and scheduling of human space activities is an expensive and time-consuming task that seldom provides the crew with the control, flexibility, or insight that they need. During the past thirty years, scheduling software has seen only incremental improvements; however, software limitations continue to prevent even evolutionary improvements in the operations concept that is used for human space missions. Space missions are planned on the ground long before they are executed in space, and the crew has little input or influence on the schedule. In recent years the crew has been presented with a job jar of activities that they can do whenever they have time, but the contents of the jar is limited to tasks that do not use scarce shared resources and do not have external timing constraints. Consequently, the crew has no control over the schedule of the majority of their own tasks. As humans venture farther from earth for longer durations, it will become imperative that they have the ability to plan and schedule not only their own activities, but also the unattended activities of the systems, equipment, and robots on the journey with them. Significant software breakthroughs are required to enable the change in the operations concept. The crew does not have the time to build or modify the schedule by hand. They only need to issue a request to schedule a task and the system should automatically do the rest. Of course, the crew should not be required to build the complete schedule. Controllers on the ground should contribute the models and schedules where they have the better knowledge. The system must allow multiple simultaneous users, some on earth and some in space. The Mission Operations Laboratory at NASA's Marshall Space flight Center has been researching and prototyping a modeling schema, scheduling engine, and system architecture that can enable the needed paradigm shift - it can make the crew autonomous. This schema and engine can be the core of a planning and scheduling system that would enable multiple planners, some on the earth and some in space, to build one integrated timeline. Its modeling schema can capture all the task requirements; its scheduling engine can build the schedule automatically, and its architecture can allow those (on earth and in space) with the best knowledge of the tasks to schedule them. This paper describes the enabling technology and proposes an operations concept for astronauts autonomously scheduling their activities and the activities around them.

Jaap, John↗

NASA NTRS1994

Robotic Tool Changer For Automated Welding

Prototype robotic tool changer for automated welding system eliminates need for most manual tool setups and attendant problems: operates rapidly, always chooses designated tool, maneuvers tip of welding torch or other tool in correct position, and reliably connects water, gas, welding wire, high-voltage electrical signals, and ground. Also loads tools other than those for welding. Intended for use in robotic work cell producing all good parts, no rejects. In production, robot welds part, tests for flaws, and reworks as necessary before releasing it.

Gilbert, Jeffrey L.↗

NASA NTRS1989

Proceedings of the NASA Conference on Space Telerobotics, volume 5

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center.

Rodriguez, Guillermo↗

NASA NTRS1989

Information management in an integrated space telerobot

The in-orbit operations, like space structures inspection, servicing and repairing, is expected to be one of the most significant technological area for application and development of Robotics and Automation in Space Station environment. The Italian National Space Plan (PSN) has started up its strategic programme SPIDER (Space Inspection Device for Extravehicular Repairs), which is scheduled in three phases, with the final goal of performing docking and precision repairing in the Space Station environment. SPIDER system is an autonomous integrated space robot, using mature Artificial Intelligence tools and technics for its operational control. The preliminary results of a study on the information architecture of the spacecraft are described.

Dipippo, S.↗

NASA NTRS2006

Lunar Relay Satellite Network for Space Exploration: Architecture, Technologies and Challenges

NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of these missions is to grow, through a series of launches, a system of systems infrastructure with the capability for safe and sustainable autonomous operations at minimum cost while maximizing the exploration capabilities and science return. An incremental implementation process will enable a buildup of the communication, navigation, networking, computing, and informatics architectures to support human exploration missions in the vicinities and on the surfaces of the Moon and Mars. These architectures will support all space and surface nodes, including other orbiters, lander vehicles, humans in spacesuits, robots, rovers, human habitats, and pressurized vehicles. This paper describes the integration of an innovative MAC and networking technology with an equally innovative position-dependent, data routing, network technology. The MAC technology provides the relay spacecraft with the capability to autonomously discover neighbor spacecraft and surface nodes, establish variable-rate links and communicate simultaneously with multiple in-space and surface clients at varying and rapidly changing distances while making optimum use of the available power. The networking technology uses attitude sensors, a time synchronization protocol and occasional orbit-corrections to maintain awareness of its instantaneous position and attitude in space as well as the orbital or surface location of its communication clients. A position-dependent data routing capability is used in the communication relay satellites to handle the movement of data among any of multiple clients (including Earth) that may be simultaneously in view; and if not in view, the relay will temporarily store the data from a client source and download it when the destination client comes into view. The integration of the MAC and data routing networking technologies would enable a relay satellite system to provide end-to-end communication services for robotic and human missions in the vicinity, or on the surface of the Moon with a minimum of Earth-based operational support.

Bhasin, Kul B.↗

NASA NTRS1984

A system-level approach to automation research

Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

Harrison, F. W.↗

NASA NTRS1989

Graphic overlays in high-precision teleoperation: Current and future work at JPL

In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Diner, Daniel B.↗

NASA NTRS1984

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Barker, L. K.↗

NASA NTRS2013

Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

Badger, Julia M.↗

NASA NTRS2014

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

sensory feedback↗

NASA NTRS2016

Human Mars Landing Site and Impacts on Mars Surface Operations

NASA has begun a process to identify and discuss candidate locations where humans could land, live and work on the Martian surface. These locations are referred to as Exploration Zones (EZs). Given current mission concepts, an EZ is a collection of Regions of Interest (ROIs) that are located within approximately 100 kilometers of a centralized landing site. ROIs are areas that are relevant for scientific investigation and/or development/maturation of capabilities and resources necessary for a sustainable human presence. The EZ also contains a landing site and a habitation site that will be used by multiple human crews during missions to explore and utilize the ROIs within the EZ. These candidate EZs will be used by NASA as part of a multi‐year process of determining where and how humans could explore Mars. In the near term this process includes: (a) identifying locations that would maximize the potential science return from future human exploration missions, (b) identifying locations with the potential for resources required to support humans, (c) developing concepts and engineering systems needed by future human crews to conduct operations within an EZ, and (d) identifying key characteristics of the proposed candidate EZs that cannot be evaluated using existing data sets, thus helping to define precursor measurements needed in advance of human missions. Existing and future robotic spacecraft will be tasked to gather data from specific Mars surface sites within the representative EZs to support these NASA activities. The proposed paper will describe NASA's initial steps for identifying and evaluating candidate EZs and ROIs. This includes plans for the "First Landing Site/Exploration Zone Workshop for Human Missions to the Surface of Mars" to be held in October 2015 at which proposals for EZs and ROIs will be presented and discussed. It will also include a discussion of how these considerations are (or will be) taken into account as future robotic Mars missions are defined and developed. One or more representative EZs, drawn from similar previous studies involving Mars sites, will be used in the proposed paper to illustrate the process NASA envisions for gathering additional data from robotic precursor missions to assist in making a final selection of an EZ for human crews as well as the steps likely to occur during the buildup of a habitation site. Examples of the systems and operations likely to be used by human crews, assisted by robotic vehicles, to explore the scientific ROIs as well as developing the resource ROIs within the example EZs will be discussed.

Bussey, Ben↗

NASA NTRS1987

Technology requirements for telerobotic satellite servicing in space

Telerobotic servicer technology requirements were identified for typical on-orbit servicing operations, including: automation requirements and automated system utilization in typical servicing missions; key automation technologies used for servicing; evolution concepts; technology development timetable; and servicing technology drivers. Teleoperation, robotics, and artificial intelligence are needed in the servicing missions investigated. Analysis shows that teleoperation will be used more widely than fully robotic systems, at least during the early space station years because of the diversity and unpredictability of many servicing tasks which call for the human operator's skills, resourcefulness, and decision-making ability. There will be heavy dependence on a sophisticated, flexible, readily accessible, high-speed and high-capacity data management system which can provide the expert system support required in diagnosing, troubleshooting, decision making, task scheduling, and mission planning.

Meissinger, Hans F.↗

NASA NTRS2011

NASA Technology Area 07: Human Exploration Destination Systems Roadmap

This paper gives an overview of the National Aeronautics and Space Administration (NASA) Office of Chief Technologist (OCT) led Space Technology Roadmap definition efforts. This paper will given an executive summary of the technology area 07 (TA07) Human Exploration Destination Systems (HEDS). These are draft roadmaps being reviewed and updated by the National Research Council. Deep-space human exploration missions will require many game changing technologies to enable safe missions, become more independent, and enable intelligent autonomous operations and take advantage of the local resources to become self-sufficient thereby meeting the goal of sustained human presence in space. Taking advantage of in-situ resources enhances and enables revolutionary robotic and human missions beyond the traditional mission architectures and launch vehicle capabilities. Mobility systems will include in-space flying, surface roving, and Extra-vehicular Activity/Extravehicular Robotics (EVA/EVR) mobility. These push missions will take advantage of sustainability and supportability technologies that will allow mission independence to conduct human mission operations either on or near the Earth, in deep space, in the vicinity of Mars, or on the Martian surface while opening up commercialization opportunities in low Earth orbit (LEO) for research, industrial development, academia, and entertainment space industries. The Human Exploration Destination Systems (HEDS) Technology Area (TA) 7 Team has been chartered by the Office of the Chief Technologist (OCT) to strategically roadmap technology investments that will enable sustained human exploration and support NASA s missions and goals for at least the next 25 years. HEDS technologies will enable a sustained human presence for exploring destinations such as remote sites on Earth and beyond including, but not limited to, LaGrange points, low Earth orbit (LEO), high Earth orbit (HEO), geosynchronous orbit (GEO), the Moon, near-Earth objects (NEOs), which > 95% are asteroidal bodies, Phobos, Deimos, Mars, and beyond. The HEDS technology roadmap will strategically guide NASA and other U.S. Government agency technology investments that will result in capabilities enabling human exploration missions to diverse destinations generating high returns on investments.

Kennedy, Kriss J.↗