Search NASA⌕ Search

SEARCH · Search NASA

Results for “planetary robotics”

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 577 records · Page 32
All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Meta-aerogels: Auxetic Shape-memory Polyurethane Aerogels

Shape-memory poly(isocyanurate-urethane) (PIR-PUR) aerogels are low-density monolithic nanoporous solids that remember and return to their permanent shape through a heating actuation step. Herein, through structural design at the macro scale, the shape-memory response is augmented with an auxetic effect manifested by a negative Poisson’s ratio of approximately -0.8 at 15% compressive strain. Thus, auxetic shape-memory PIR-PUR monoliths experience volume contraction upon compression at a temperature above the glass transition temperature of the base polymer (Tg ~ 30 °C), and they can be stowed indefinitely in that temporary shape by cooling below Tg. By heating back above Tg, the compressed/shrunk form expands back to their original shape/size. This technology is relevant to a broad range of industries spanning the commercial, aeronautical, and aerospace sectors. The materials are referred to as meta-aerogels and their potential applications include minimally invasive medical devices, soft robotics, and in situations where volume is at a premium, as for example for storage of deployable space structures and planetary habitats during transport to the point of service.

Sadeq Malakooti↗
NASA NTRSDate not supplied

Cryobotics: Extreme Cold Environment Testing

The extreme cold environment test chamber was designed to conduct research in cryobotics; an area of study that focuses on robotic systems and rotating machinery operating in extreme cold environments including Earth, low Earth orbit, Mars, Moon, asteroids, Solar orbit, planetary orbit, or those encountered during travel among these destinations. The test chamber incorporates a modular dynamometer, consisting of a variety of brakes, torque sensors and motors to be easily interchanged between tests. Each test employs a unique test profile that incorporates different setpoints of applied torques and velocities for a given period or number of revolutions. The modularity of the dynamometer setup allows for any combination of motor, gearbox to be tested. The chamber has been used to run tests for various projects including Bulk Metallic Glass Gears (BMGG), Volatiles Investigating Polar Exploration Rover (VIPER), Intelligent Payload Experiment (IPEX), and Pilot Excavator. Various upgrades have been made to the extreme cold environment test chamber for the use of cryobotic research. These upgrades greatly increased the autonomous capabilities of the test set up by providing redundancies in the hardware and software. The redundancies were primarily added to protect the integrity of the cryohead. A new strapping and insulation method was performed to create the thermal conductive path from the actuators to the cryohead. The software was upgraded to include temperature setpoint control, further increasing the autonomous capabilities of the test. This paper goes into detail regarding the upgrades made to the extreme cold environment test chamber, as well as highlights the results from a COLDArm acceptance test.

Jonathan Drew Smith↗
NASA NTRSDate not supplied

Experimental Capabilities and Achievements of the Space Environment Dynamometer (SED)

The Space Environment Dynamometer (SED) chamber was designed to conduct research in cryobotics; an area of study that focuses on robotic systems and rotating machinery operating in extreme cold environments including Earth, low Earth orbit, Mars, Moon, asteroids, Solar orbit, planetary orbit, or those encountered during travel among these destinations. The test chamber incorporates a modular dynamometer, consisting of a variety of brakes, torque sensors and motors to be easily interchanged between tests. Each test employs a unique test profile that incorporates different setpoints of applied torques and velocities for a given period or number of rev- olutions. The modularity of the dynamometer setup allows for any combination of motor, gearbox to be tested. This chamber is one of a kind and resides at the Swamp Works facility within the Granular Mechanics and Regolith Operations laboratory (GMRO) at NASA Kennedy Space Center. Other cold chambers exist, however they are project specific and do not simultaneously output real time torque, temperature and efficiency data. The modularity of this extreme cold environment test chamber, coupled with the custom software and instrumentation, makes it one of a kind. The chamber is capable of stabilizing cryogenic temperatures and pressures to commensurate moon environments. Tests have successfully been conducted on motors and gearboxes for various cryogenic temperature set points, torques, and angular velocities. Relevant internal temperatures of the test article and chamber were recorded using a variety of temperature sensors. The temperature setpoints, on the motors and gearboxes tested, were stabilized by using PID gain scheduling of the PWM signal for the various heaters. The heat removal for the motor was provided by creating a thermally conductive path from a cryohead directly to the test article using copper straps. A variety of strainwave gears (SWGs), also known as Harmonic drives, planetary gear systems and DC motor actuator configurations have been tested in the chamber. The experiments performed were for various projects including Bulk Metallic Glass Gears (BMGG), Volatiles Investigating Polar Exploration Rover (VIPER), In-Situ Resource Utilization Pilot Excavator (IPEX) . Various upgrades have been made to the extreme cold environment test chamber for the use of cryobotic research. These upgrades greatly increased the autonomous capabilities of the test set up by providing redundancies in the hardware and software. The redundancies were primarily added to protect the integrity of the cryohead. A new strapping and insulation method was performed to create the thermal conductive path from the actuators to the cryohead. The software was upgraded to include temperature setpoint control, further increasing the autonomous capabilities of the test. This paper goes into detail regarding the upgrades made to the extreme cold environment test chamber, as well as highlights the results from a COLDArm acceptance test.

Casey J. Clark↗
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 NTRS2014

Zephyr: A Landsailing Rover for Venus

With an average temperature of 450C and a corrosive atmosphere at a pressure of 90 bars, the surface of Venus is the most hostile environment of any planetary surface in the solar system. Exploring the surface of Venus would be an exciting goal, since Venus is a planet with significant scientific mysteries, and interesting geology and geophysics. Technology to operate at the environmental conditions of Venus is under development. A rover on the surface of Venus with capability comparable to the rovers that have been sent to Mars would push the limits of technology in high-temperature electronics, robotics, and robust systems. Such a rover would require the ability to traverse the landscape on extremely low power levels. We have analyzed an innovative concept for a planetary rover: a sail-propelled rover to explore the surface of Venus. Such a rover can be implemented with only two moving parts; the sail, and the steering. Although the surface wind speeds are low (under 1 m/s), at Venus atmospheric density even low wind speeds develop significant force. Under funding by the NASA Innovative Advanced Concepts office, a conceptual design for such a rover has been done. Total landed mass of the system is 265 kg, somewhat less than that of the MER rovers, with a 12 square meter rigid sail. The rover folds into a 3.6 meter aeroshell for entry into the Venus atmosphere and subsequent parachute landing on the surface. Conceptual designs for a set of hightemperature scientific instruments and a UHF communication system were done. The mission design lifetime is 50 days, allowing operation during the sunlit portion of one Venus day. Although some technology development is needed to bring the high-temperature electronics to operational readiness, the study showed that such a mobility approach is feasible, and no major difficulties are seen.

rover↗
NASA NTRS2012

Finding Near-Earth Asteroid (NEA) Destinations for Human Exploration: Implications for Astrobiology

The current number of known potential NEA targets for HSF is limited to those objects whose orbital characteristics are similar to that of the Earth. This is due to the projected capabilities of the exploration systems currently under consideration and development at NASA. However, NEAs with such orbital characteristics often have viewing geometries that place them at low solar elongations and thus are difficult to detect from the vicinity of Earth. While ongoing ground-based surveys and data archives maintained by the NEO Program Observation Program Office and the Minor Planet Center (MPC) have provided a solid basis upon which to build, a more complete catalog of the NEO population is required to inform a robust and sustainable HSF exploration program. Since all the present NEO observing assets are currently confined to the vicinity of the Earth, additional effort must be made to provide capabilities for detection of additional HSF targets via assets beyond Earth orbit. A space-based NEO survey telescope located beyond the vicinity of the Earth, has considerable implications for planetary science and astrobiology. Such a telescope will provide foundational knowledge of our Solar System small body population and detect targets of interest for both the HSF and scientific communities. Data from this asset will yield basic characterization data on the NEOs observed (i.e., albedo, size determination, potential for volatiles and organics, etc.) and help down select targets for future HSF missions. Ideally, the most attractive targets from both HSF and astrobiology perspectives are those NEAs that may contain organic and volatile materials, and which could be effectively sampled at a variety of locations and depths. Presented here is an overview of four space-based survey concepts; any one of which after just a few years of operation will discover many highly accessible NEO targets suitable for robotic and human exploration. Such a space-based survey mission will reveal incredible returns for several disciplines including: exploration, in situ resource utilization, planetary defense, and science. Of particular, interest to the scientific

Landis, Rob↗
NASA NTRS1999

Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers

An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory. Graphical programming is presented as a common intuitive language for the design when a large design team is composed of managers, architecture designers, engineers, programmers, and maintenance personnel. The whole design of the control architecture consists in the classic control concepts of cyclic data processing and event-driven reaction to achieve all the reasoning and behaviors needed. For this purpose, a commercial graphical tool is presented that includes the mentioned control capabilities. Messages queues are used for inter-communication among control functions, allowing Artificial Intelligence (AI) reasoning techniques based on queue manipulation. Experimental results show a highly autonomous control system running in real time on top the JPL micro-rover Rocky 7 controlling simultaneously several robotic devices. This paper validates the sinergy between Artificial Intelligence and classic control concepts in having in advanced Control Architecture for Long Range Autonomous Planetary Rovers.

Martin-Alvarez, A.↗
NASA NTRS1985

Overview of the NASA automation and robotics research program

NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

Holcomb, Lee↗
NASA NTRS2004

Mars Environmental Chamber for Dynamic Dust Deposition and Statics Analysis

Recent observations of the 2001 dust storms encircling Mars confirm predictions of environmental challenges for exploration. Martian dust has been found to completely mantle the Martian surface over thousands of square kilometers and the opacity of airborne dust has been shown to be capable of modifying atmospheric temperature, radiative transfer and albedo. Planetary dust cycling dynamics are suggested to be a key factor in the evolution of the Martian surface. Long-term robotic and manned exploration of Mars will be confronted by dust deposition in periods of atmospheric calm and violent wind storms. Aeolian dust deposition recorded during the Mars Pathfinder mission was estimated to fall at rates of 20-45 microns per Earth year. Although many tools of exploration will be challenged by coating, adhesion, abrasion and possible chemical reaction of deposited, wind blown and actively disturbed Martian dust, solar cells are thought to be of primary concern. Recent modeling work of power output by gallium arsenide/germanium solar cells was validated by the Pathfinder Lander data and showed power output decreases of 0.1 to 0.5% per Martian day. A major determinant for the optimal positioning angle of solar panels employed in future missions is the angle of repose of the settling dust particles that is dependent on a variety of physical and chemical properties of the particles, the panel surface, and the environmental conditions on the Mars surface. While the effects of many of these factors are well understood qualitatively, quantitative analyses, especially under physical and chemical conditions prevailing on the Mars surface are lacking.

L.E. Moeller↗
NASA NTRS2006

Generating CAHV and CAHVOR Images with Shadows in ROAMS

Part of the Rover Analysis, Modeling and Simulation (ROAMS) software that synthesizes images of terrain has been augmented to make the images more realistic. [ROAMS was described in "Simulating Operation of a Planetary Rover" (NPO-30722), NASA Tech Briefs, Vol. 28, No. 9 (September 2004), page 52. ROAMS simulates the operation of a robotic vehicle (rover) exploring terrain on a remote planet.] The images are needed for modeling responses of rover cameras that provide sensory inputs for machine-vision-based algorithms for controlling the motion of the rover. The augmented image-synthesizing part of the ROAMS software supports terrain geometry and texture specifiable by the user, CAHV and CAHVOR camera models, and more-realistic shadowing (see figure). (The letters in "CAHV" represent vectors in a standard photogrammetric model of a pinhole camera. Letters O and R in "CAHVOR" represent vectors used to model distortions.) A contemplated future version of ROAMS would support the CAHVORE model, which represents more-general cameras, including those having fish-eye or other wide-field-of-view lenses. (Letter E in "CAHVORE" represents a vector used to model apparent motion of a camera entrance pupil.)

Madison, Richard↗
NASA NTRS2012

On the Design of the Axel and DuAxel Rovers for Extreme Terrain Exploration

The solar system's most scientifically tantalizing terrain remains out of reach for traditional planetary rovers, which are typically limited to driving on slopes below 30 degrees. This paper details the design of a novel robotic explorer that would open access to these previously inaccessible locales, such as Martian crater walls where evidence of salty water was recently detected, Lunar polar craters where evidence of water ice was detected, and Lunar and Martian lava tubes for future habitability. The Axel rover is a two-wheeled robot capable of rappelling down steep (even vertical) slopes supported by a tether. The DuAxel rover is comprised of two Axel vehicles docked to a central module. Unrestricted by tether length, this four-wheeled system would be capable of driving long distances from a safe landing zone to the extreme terrain of interest. Once in the vicinity of terrain in which the tether would be required, one of the Axel rovers could undock from the central chassis and rappel downslope. The other Axel and central chassis would remain topside to act as an anchor and to provide line of site to Earth (for communications) and the Sun (for energy). As the detached Axel descends into the area of interest, it would receive power and relays data through conductors in its tether. Each Axel would carry a suite of instruments in a bay that would be tucked inside the wheels. Because of the novel configuration of Axel's major degrees of freedom, these instruments could be precisely pointed at targets at any desired downslope spatial separation. These instruments could then be deployed into close proximately to the ground by means of a simple mechanism, allowing for detailed study of the strata on the slope. Axel could accommodate a host of instruments, including a microscopic imager, infra-red spectrometers, thermal probes, and sample collection devices. This paper will describe the design of both the latest generation of Axel and DuAxel systems and their instrument/sampling mechanisms. Results from recent field trials at a rock quarry in California and a Martian analog site in the desert of Arizona will be described.

rover mobility↗
NASA NTRS2015

Tension Stiffened and Tendon Actuated Manipulator

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Doggett, William R.↗
NASA NTRS2016

Agriculture on Mars: Soils for Plant Growth

Robotic rovers and landers have enabled the mineralogical, chemical, and physical characterization of loose, unconsolidated materials on the surface of Mars. Planetary scientists refer to the regolith material as "soil." NASA is currently planning to send humans to Mars in the mid 2030s. Early missions may rely on the use of onsite resources to enable exploration and self-sufficient outposts on Mars. The martian "soil" and surface environment contain all essential plant growth elements. The study of martian surface materials and how they might react as agricultural soils opens a new frontier for researchers in the soil science community. Other potential applications for surface "soils" include (i) sources for extraction of essential plant-growth nutrients, (ii) sources of O2, H2, CO2, and H2O, (iii) substrates for microbial populations in the degradation of wastes, and (iv) shielding materials surrounding outpost structures to protect humans, plants, and microorganisms from radiation. There are many challenges that will have to be addressed by soil scientists prior to human exploration over the next two decades.

Ming, D. W.↗
NASA NTRS2019

Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Doggett, William R.↗
NASA NTRSDate not supplied

TeleLayering: Teleoperated Construction 3D Printing Using Multimodal Feedback for Extraterrestrial and Terrestrial Construction

In this paper, we propose a teleoperated construction 3D printing technology, called TeleLayering, for planetary and terrestrial applications. The TeleLayering technology is enabled by effective multimodal control and monitoring systems and enhanced construction 3D printing robots to build or repair a variety of structures in extreme environments without the need for human presence on the jobsite. This paper presents a general description, main technical requirements, implementation challenges, and applications of this technology.

TeleLayering↗
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 NTRS2006

Motion Trajectories for Wide-area Surveying with a Rover-based Distributed Spectrometer

A mobile ground survey application that employs remote sensing as a primary means of area coverage is highlighted. It is distinguished from mobile robotic area coverage problems that employ contact or proximity-based sensing. The focus is on a specific concept for performing mobile surveys in search of biogenic gases on planetary surfaces using a distributed spectrometer -- a rover-based instrument designed for wide measurement coverage of promising search areas. Navigation algorithms for executing circular and spiral survey trajectories are presented for widearea distributed spectroscopy and evaluated based on area covered and distance traveled.

mobile robots↗