Results for “robotic hardware” — Page 32

NASA NTRS1995

An adaptable product for material processing and life science missions

The Experiment Control System II (ECS-II) is designed to make available to the microgravity research community the same tools and mode of automated experimentation that their ground-based counterparts have enjoyed for the last two decades. The design goal was accomplished by combining commercial automation tools familiar to the experimenter community with system control components that interface with the on-orbit platform in a distributed architecture. The architecture insulates the tools necessary for managing a payload. By using commercial software and hardware components whenever possible, development costs were greatly reduced when compared to traditional space development projects. Using commercial-off-the-shelf (COTS) components also improved the usability documentation, and reducing the need for training of the system by providing familiar user interfaces, providing a wealth of readily available documentation, and reducing the need for training on system-specific details. The modularity of the distributed architecture makes it very amenable for modification to different on-orbit experiments requiring robotics-based automation.

Wassick, Gregory↗

NASA NTRS2014

NASA's Space Launch System: An Enabling Capability for Discovery

The National Aeronautics and Space Administration's (NASA's) Space Launch System (SLS) Program, managed at the Marshall Space Flight Center, is making progress toward delivering a new capability for human spaceflight and scientific missions beyond Earth orbit. Developed with the goals of safety, affordability, and sustainability in mind, the SLS rocket will launch the Orion Multi-Purpose Crew Vehicle (MPCV), equipment, supplies, and major science missions for exploration and discovery. Making its first uncrewed test flight in 2017 and its first crewed flight in 2021, the SLS will evolve into the most powerful launch vehicle ever flown, capable of supporting human missions into deep space and to Mars. This paper will summarize the planned capabilities of the vehicle, the progress the SLS Program has made in the years since the Agency formally announced its architecture in September 2011, and the path the program is following to reach the launch pad in 2017 and then to evolve the 70 metric ton (t) initial lift capability to 130 t lift capability. The paper will outline the milestones the program has already reached, from developmental milestones such as the manufacture of the first flight hardware and recordbreaking engine testing, to life-cycle milestones such as the vehicle's Preliminary Design Review in the summer of 2013. The paper will also discuss the remaining challenges in both delivering the 70 t vehicle and in evolving its capabilities to the 130 t vehicle, and how the program plans to accomplish these goals. In addition, this paper will demonstrate how the Space Launch System is being designed to enable or enhance not only human exploration missions, but robotic scientific missions as well. Because of its unique launch capabilities, SLS will support simplifying spacecraft complexity, provide improved mass margins and radiation mitigation, and reduce mission durations. These capabilities offer attractive advantages for ambitious science missions by reducing infrastructure requirements, cost, and schedule. A traditional baseline approach for a mission to investigate the Jovian system would require a complicated trajectory with several gravity-assist planetary fly-bys to achieve the necessary outbound velocity. The SLS rocket, offering significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, providing scientific results sooner and at lower operational cost. The SLS rocket will launch payloads of unprecedented mass and volume, such as "monolithic" telescopes and in-space infrastructure, and will revolutionize science mission planning and design for years to come. As this paper will explain, SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by harnessing business and technological innovations to deliver sustainable solutions for space exploration.

Creech, Stephen D.↗

NASA NTRS2014

NASA's Space Launch System: An Enabling Capability for Discovery

The National Aeronautics and Space Administration's (NASA's) Space Launch System (SLS) Program, managed at the Marshall Space Flight Center, is making progress toward delivering a new capability for human spaceflight and scientific missions beyond Earth orbit. Developed with the goals of safety, affordability, and sustainability in mind, the SLS rocket will launch the Orion Multi-Purpose Crew Vehicle (MPCV), equipment, supplies, and major science missions for exploration and discovery. Making its first uncrewed test flight in 2017 and its first crewed flight in 2021, the SLS will evolve into the most powerful launch vehicle ever flown, capable of supporting human missions into deep space and to Mars. This paper will summarize the planned capabilities of the vehicle, the progress the SLS Program has made in the years since the Agency formally announced its architecture in September 2011, and the path the program is following to reach the launch pad in 2017 and then to evolve the 70 metric ton (t) initial lift capability to 130 t lift capability. The paper will outline the milestones the program has already reached, from developmental milestones such as the manufacture of the first flight hardware and recordbreaking engine testing, to life-cycle milestones such as the vehicle's Preliminary Design Review in the summer of 2013. The paper will also discuss the remaining challenges in both delivering the 70 t vehicle and in evolving its capabilities to the 130 t vehicle, and how the program plans to accomplish these goals. In addition, this paper will demonstrate how the Space Launch System is being designed to enable or enhance not only human exploration missions, but robotic scientific missions as well. Because of its unique launch capabilities, SLS will support simplifying spacecraft complexity, provide improved mass margins and radiation mitigation, and reduce mission durations. These capabilities offer attractive advantages for ambitious science missions by reducing infrastructure requirements, cost, and schedule. A traditional baseline approach for a mission to investigate the Jovian system would require a complicated trajectory with several gravity-assist planetary fly-bys to achieve the necessary outbound velocity. The SLS rocket, offering significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, providing scientific results sooner and at lower operational cost. The SLS rocket will launch payloads of unprecedented mass and volume, such as "monolithic" telescopes and in-space infrastructure, and will revolutionize science mission planning and design for years to come. As this paper will explain, SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by harnessing business and technological innovations to deliver sustainable solutions for space exploration.

Creech, Stephen D.↗

NASA NTRS2011

High Intensity Laser Power Beaming Architecture for Space and Terrestrial Missions

High Intensity Laser Power Beaming (HILPB) has been developed as a technique to achieve Wireless Power Transmission (WPT) for both space and terrestrial applications. In this paper, the system architecture and hardware results for a terrestrial application of HILPB are presented. These results demonstrate continuous conversion of high intensity optical energy at near-IR wavelengths directly to electrical energy at output power levels as high as 6.24 W from the single cell 0.8 cm2 aperture receiver. These results are scalable, and may be realized by implementing receiver arraying and utilizing higher power source lasers. This type of system would enable long range optical refueling of electric platforms, such as MUAV s, airships, robotic exploration missions and provide power to spacecraft platforms which may utilize it to drive electric means of propulsion.

Nayfeh, Taysir↗

NASA NTRS2019

The International Space Station (ISS) Port 1 (P1) External Active Thermal Control System (EATCS) Ammonia Leak

Ammonia is used in the Starboard 1 (S1) and Port 1 (P1) External Active Thermal Control System (EATCS) to cool the pressurized modules, and some of the external electrical power distribution hardware. Leaks that develop in these critical cooling systems that deplete in-line tanks can ultimately result in loss of cooling, which can have devastating impacts to the mission, science and crew onboard the ISS. A slow ammonia leak was initially observed from the P1 EATCS in 2011, but later in 2013 the leak rate began to accelerate. The ammonia inventory eventually began to decay exponentially, raising concerns that the inventory could drop to levels where the system would not be operational.The Robotic External Leak Locator (RELL) was built and launched to the ISS to detect and help locate ammonia leaks using the ISS Robotic Arm and remote ground operator control without constant crew involvement. RELL pinpointed the ammonia leak to the two flexible jumper hose assemblies connecting one of two fluid loops in one of the three deployable radiators to the P1 EATCS. The ammonia inside the two hose assemblies and that radiator fluid loop was isolated and vented to space in 2017. This stopped the leak and an Extravehicular Activity was conducted to remove the two hose assemblies so they could be returned to ground for further Test, Teardown and Evaluation (TT&E). The purpose of this presentation is to discuss this leakage scenario and the TT&E efforts.

Cowan, Darnell T.↗

NASA NTRSDate not supplied

Rapid Development of Instrument Thermal Models: Perspectives and Guidelines from NASA Goddard’s Instrument Design Laboratory

- The design and development of robotic spaceflight instruments is a critical part of NASA’s vision to discover and expand knowledge for the benefit of humanity - For typical flight instrument projects, thermal engineers will develop initial instrument thermal models over weeks or months, then iterate them over a project’s lifespan – In each iteration, the engineer will: - Refine their thermal models and thermal designs in accordance with updates from other subsystems - Perform trade studies - Solve very detailed and complex analysis problems, including worst-cases and contingencies - Pick hardware and plan for testing and integration - However, prior to a project being established, or for proposal development at an early conceptual stage, the luxury of multiple instrument design iterations may be limited or nonexistent – Within a short timeline, how do you complete a thermal model or explore multiple possible instrument configurations? – What are the critical parameters for your model? Which details do you include or leave out?

Kan Yang↗

NASA NTRS2013

Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration

A cubesat attitude control system (ACS) was designed at the NASA Marshall Space Flight Center (MSFC) to provide sub-degree pointing capabilities using low cost, COTS attitude sensors, COTS miniature reaction wheels, and a developmental micro-propulsion system. The ACS sensors and actuators were integrated onto a 3D-printed plastic 3U cubesat breadboard (10 cm x 10 cm x 30 cm) with a custom designed instrument board and typical cubesat COTS hardware for the electrical, power, and data handling and processing systems. In addition to the cubesat development, a low-cost air bearing was designed and 3D printed in order to float the cubesat in the test environment. Systems integration and verification were performed at the MSFC Small Projects Rapid Integration & Test Environment laboratory. Using a combination of both the miniature reaction wheels and the micro-propulsion system, the open and closed loop control capabilities of the ACS were tested in the Flight Robotics Laboratory. The testing demonstrated the desired sub-degree pointing capability of the ACS and also revealed the challenges of creating a relevant environment for development testin

Sanders, Devon S.↗

DOE OSTI2020

GRANT: Ground-Roaming Autonomous Neuromorphic Targeter

In this work we describe the design, implementation, and testing of the first neuromorphic robot capable of obstacle avoidance, grid coverage, and targeting controlled by the second generation Dynamic Adaptive Neural Network Array (DANNA2) digital spiking neuromorphic processor. The simplicity of the DANNA2 processor along with the TENNLab hardware/software co-design framework allows for compact spiking networks that can run efficiently on a small, resource-constrained, platform such as a Xilinx Artix-7 field-programmable gate array. Additionally, we present the dynamic reconfigurability of DANNA2 arrays as a method of realizing complex, multi-objective tasks on hardware that is restricted to relatively small networks.

Ambrose, Jonathan↗

NASA NTRS2004

Pre-Hardware Optimization and Implementation Of Fast Optics Closed Control Loop Algorithms

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). The FFT is particularly useful in two-dimensional (2-D) image processing (FFT2) within optical systems control. However, timing constraints of a fast optics closed control loop would require a supercomputer to run the software implementation of the FFT2 and its inverse, as well as other image processing representative algorithm, such as numerical image folding and fringe feature extraction. A laboratory supercomputer is not always available even for ground operations and is not feasible for a night project. However, the computationally intensive algorithms still warrant alternative implementation using reconfigurable computing technologies (RC) such as Digital Signal Processors (DSP) and Field Programmable Gate Arrays (FPGA), which provide low cost compact super-computing capabilities. We present a new RC hardware implementation and utilization architecture that significantly reduces the computational complexity of a few basic image-processing algorithm, such as FFT2, image folding and phase diversity for the NASA Solar Viewing Interferometer Prototype (SVIP) using a cluster of DSPs and FPGAs. The DSP cluster utilization architecture also assures avoidance of a single point of failure, while using commercially available hardware. This, combined with the control algorithms pre-hardware optimization, or the first time allows construction of image-based 800 Hertz (Hz) optics closed control loops on-board a spacecraft, based on the SVIP ground instrument. That spacecraft is the proposed Earth Atmosphere Solar Occultation Imager (EASI) to study greenhouse gases CO2, C2H, H2O, O3, O2, N2O from Lagrange-2 point in space. This paper provides an advanced insight into a new type of science capabilities for future space exploration missions based on on-board image processing for control and for robotics missions using vision sensors. It presents a top-level description of technologies required for the design and construction of SVIP and EASI and to advance the spatial-spectral imaging and large-scale space interferometry science and engineering.

Kizhner, Semion↗

NASA NTRS2014

NASA's Space Launch System: Momentum Builds Toward First Launch

NASA's Space Launch System (SLS) is gaining momentum toward the first launch of a new exploration-class heavy lift launch vehicle for international exploration and science initiatives. The SLS comprises an architecture that begins with a vehicle capable of launching 70 metric tons (t) into low Earth orbit. It will launch the Orion Multi-Purpose Crew Vehicle (MPCV) on its first autonomous flight beyond the Moon and back in December 2017. Its first crewed flight follows in 2021. SLS can evolve to a130-t lift capability and serve as a baseline for numerous robotic and human missions ranging from a Mars sample return to delivering the first astronauts to explore another planet. The SLS Program formally transitioned from the formulation phase to implementation with the successful completion of the rigorous Key Decision Point C review in 2014. As a result, the Agency authorized the Program to move forward to Critical Design Review, scheduled for 2015. In the NASA project life cycle process, SLS has completed 50 percent of its major milestones toward first flight. Every SLS element manufactured development hardware for testing over the past year. Accomplishments during 2013/2014 included manufacture of core stage test articles, preparations for qualification testing the solid rocket boosters and the RS-25 main engines, and shipment of the first flight hardware in preparation for the Exploration Flight Test-1 (EFT-1) in 2014. SLS was conceived with the goals of safety, affordability, and sustainability, while also providing unprecedented capability for human exploration and scientific discovery beyond Earth orbit. In an environment of economic challenges, the SLS team continues to meet ambitious budget and schedule targets through the studied use of hardware, infrastructure, and workforce investments the United States made in the last half century, while selectively using new technologies for design, manufacturing, and testing, as well as streamlined management approaches that have increased decision velocity and reduced associated costs. This paper will summarize recent SLS Program accomplishments, as well as the challenges and opportunities ahead for the most powerful and capable launch vehicle in history.

May, Todd A.↗

NASA NTRSDate not supplied

Path Planning: Differential Dynamic Programming and Model Predictive Path Integral Control on VTOL Aircraft

This paper explores two optimal control approaches, widely used in robotics, to establish their viability as real-time trajectory planners for vehicle configurations envisioned for the emerging aviation sector of Urban Air Mobility (UAM). Differential Dynamic Programming (DDP) enables planning over highly nonlinear dynamics using second-order approximations along a nominal trajectory, and displays quadratic convergence to a local solution. Model Predictive Path Integral (MPPI) is a stochastic sampling-based algorithm that can optimize for general cost criteria, including potentially highly nonlinear formulations, and supports parallel computation through the use of modern GPU hardware. In this work, DDP and MPPI were implemented using model predictive control (MPC), and the results indicate they are able to successfully transition the aircraft over different flight envelopes and generate trajectories unique to UAM vehicles.

Differential Dynamic Programming↗

NASA NTRS2007

Automated Eddy Current Inspection on Space Shuttle Hardware

Over the life time of the Space Shuttle program, metal parts used for the Reusable Solid Rocket Motors (RSRMs) have been nondestructively inspected for cracks and surface breaking discontinuities using magnetic particle (steel) and penetrant methods. Although these inspections adequately screened for critical sized cracks in most regions of the hardware, it became apparent after detection of several sub-critical flaws that the processes were very dependent on operator attentiveness and training. Throughout the 1990's, eddy current inspections were added to areas that had either limited visual access or were more fracture critical. In the late 1990's. a project was initiated to upgrade NDE inspections with the overall objective of improving inspection reliability and control. An automated eddy current inspection system was installed in 2001. A figure shows one of the inspection bays with the robotic axis of the system highlighted. The system was programmed to inspect the various case, nozzle, and igniter metal components that make up an RSRM. both steel and aluminum. For the past few years, the automated inspection system has been a part of the baseline inspection process for steel components. Although the majority of the RSRM metal part inventory ts free of detectable surface flaws, a few small, sub-critical manufacturing defects have been detected with the automated system. This paper will summarize the benefits that have been realized with the current automated eddy current system, as well as the flaws that have been detected.

Hartmann, John↗

NASA NTRS1993

Plasma arc welding repair of space flight hardware

A technique to weld repair the main combustion chamber of Space Shuttle Main Engines has been developed. The technique uses the plasma arc welding process and active cooling to seal cracks and pinholes in the hot-gas wall of the main combustion chamber liner. The liner hot-gas wall is made of NARloy-Z, a copper alloy previously thought to be unweldable using conventional arc welding processes. The process must provide extensive heat input to melt the high conductivity NARloy-Z while protecting the delicate structure of the surrounding material. The higher energy density of the plasma arc process provides the necessary heat input while active water cooling protects the surrounding structure. The welding process is precisely controlled using a computerized robotic welding system.

Hoffman, David S.↗

NASA NTRS1989

Application of recursive manipulator dynamics to hybrid software/hardware simulation

Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.

Hill, Christopher J.↗

NASA NTRS2013

Micro-XRF for In Situ Geological Exploration of Other Planets

In situ analysis of rock chemistry is a fundamental tool for exploration of planets. To meet this need, a high-spatial-resolution micro x-ray fluorescence (Micro-XRF) instrument was developed that is capable of determining the elemental composition of rocks (elements Na U) with 100 microns spatial resolution, thus providing insight to the composition of features as small as sand grains and individual laminae. The resulting excitation beam is of sufficient intensity that high signal-to-noise punctual spectra are acquired in seconds to a few minutes using an Amptek Silicon Drift Detector (SDD). The instrument features a tightly focused x-ray tube and HVPS developed by Moxtek that provides up to 200 micro-A at 10 to 50 keV, with a custom polycapillary optic developed by XOS Inc. and integrated into a breadboard Micro-XRF (see figure). The total mass of the complete breadboard instrument is 2.76 kg, including mounting hardware, mounting plate, camera, laser, etc. A flight version of this instrument would require less than 5W nominal power and 1.5 kg mass. The instrument includes an Amptek SDD that draws 2.5 W and has a resolution of 135 to 155 eV FWHM at 5.9 keV. It weighs 180 g, including the preamplifier, digital pulse processor, multichannel analyzer, detector and preamp power supplies, and packaging. Rock samples are positioned relative to the instrument by a three-axis arm whose position is controlled by closed-loop translators (mimicking the robotic arm of a rover). The distance from the source to the detector is calculated from the position of a focused laser beam on the sample as imaged by the camera. The instrument enables quick scans of major elements in only 1 second, and rapid acquisition (30 s) of data with excellent signal-to-noise and energy resolution for trace element analysis

Wade, Lawrence A.↗

NASA NTRS1990

Nonlinear feedback method of robot control - A preliminary experimental study

The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

Tarn, T. J.↗

NASA NTRS2005

Results of a 2000 hour wear test of the NEXIS ion engine

The Nuclear Electric Xenon Ion System (NEXIS) ion thruster was developed for potential outer planet robotic missions under NASA's Prometheus program. This engine was designed to operate at power levels ranging from 16 to over 20 kWe at specific impulses of 6000 to 7500 s for burn times of up to 10 years, satisfying the requirements of nuclear electric propulsion systems such as that on the proposed Prometheus 1 mission to explore the icy moons of Jupiter. State-of-the-art performance and life assessment tools were used to design the thruster. Following the successful performance validation of a Laboratory Model thruster, Development Model hardware was fabricated and subjected to vibration and wear testing. The results of a 2000-hour wear test are reported herein. Thruster performance achieved the target requirements and was steady for the duration of the test. Ion optics performance was similarly stable. Discharge loss increases of 6 eV/ion were observed in the first 500 hours of the test and were attributed to primary electron energy decreases due to cathode insert conditioning. Relatively high recycle rates were observed and were identified to be high-voltage-to-ground arcs in the back of the thruster caused by wire insulation outgassing and electron penetration through the plasma screen. Field emission of electrons between the accelerator and screen grids was observed and attributed to evolution of field emitter sites at accelerator grid aperture edges caused by ion bombardment. Preliminary modeling and analysis indicates that the NEXIS engine can meet mission performance requirements over the required lifetime. Finally, successful validation of the NEXIS design methodology, design tools, and technologies with the results of the wear test and companion performance and vibration tests presents significant applicability of the NEXIS development effort to missions of near-term as well as long-term interest for NASA.

Nuclear Electric Xenon Ion System (NEXIS)Thruster ↗

NASA NTRS2005

Results of a 2000 Hour Wear Tof the NEXIS Ion Engine

The Nuclear Electric Xenon Ion System (NEXIS) ion thruster was developed for potential outer planet robotic missions under NASA's Prometheus program. This engine was designed to operate at power levels ranging from 16 to over 20 kWe at specific impulses of 6000 to 7500 s for burn times of up to 10 years, satisfying the requirements of nuclear electric propulsion systems such as that on the proposed Prometheus 1 mission to explore the icy moons of Jupiter. State-of-the-art performance and life assessment tools were used to design the thruster. Following the successful performance validation of a Laboratory Model thruster, Development Model hardware was fabricated and subjected to vibration and wear testing. The results of a 2000-hour wear test are reported herein. Thruster performance achieved the target requirements and was steady for the duration of the test. Ion optics performance was similarly stable. Discharge loss increases of 6 eV/ion were observed in the first 500 hours of the test and were attributed to primary electron energy decreases due to cathode insert conditioning. Relatively high recycle rates were observed and were identified to be high-voltage-to-ground arcs in the back of the thruster caused by wire insulation outgassing and electron penetration through the plasma screen. Field emission of electrons between the accelerator and screen grids was observed and attributed to evolution of field emitter sites at accelerator grid aperture edges caused by ion bombardment. Preliminary modeling and analysis indicates that the NEXIS engine can meet mission performance requirements over the required lifetime. Finally, successful validation of the NEXIS design methodology, design tools, and technologies with the results of the wear test and companion performance and vibration tests presents significant applicability of the NEXIS development effort to missions of near-term as well as long-term interest for NASA.

Thruster performance↗