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At least 73 records · Page 4

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NASA NTRS2015

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

Sanders, Adam M.↗

NASA NTRS2008

Ring Bus Architecture for a Solid-State Recorder

A document concisely describes a ring bus architecture for a proposed solid-state recorder (SSR) that would serve as buffer of data to be transmitted from a spacecraft to Earth. This architecture would afford fault tolerance needed for reliable operation in an anticipated high-radiation environment in which traditional SSRs cannot operate reliably. Features of the architecture include one or more controller boards and multiple memory boards interconnected in a ringlike topology. The interconnections would be high-speed serial links complying with the Institute of Electrical and Electronics Engineers (IEEE) standard 1393 (which pertains to a spaceborne fiber-optic data bus). Accordingly, each controller and memory board would be equipped with an IEEE-1393-compliant ring-bus-interface unit. The ringlike topology and the multiplicity of memory boards (and, optionally, of controller boards) would afford the redundancy needed for fault tolerance. Each board would be a fault-containment region. The IEEE 1393 links could be routed so that the SSR would continue to function even in the event of multiple failures. This architecture would also support scalability over a wide range. In a fully redundant configuration, it could accommodate between 1 and 125 memory boards.

Walker, W. John↗

NASA NTRS1996

High temperature braided rope seals for static sealing applications

Achieving efficiency and performance goals of advanced aircraft and industrial systems are leading designers to implement high temperature materials such as ceramics and intermetallics. Generally these advanced materials are applied selectively in the highest temperature sections of the engine system including the combustor and high pressure turbine, amongst others. Thermal strains that result in attaching the low expansion-rate components to high expansion rate superalloy structures can cause significant life reduction in the components. Seals are being designed to both seal and to serve as compliant mounts allowing for relative thermal growths between high temperature but brittle primary structures and the surrounding support structures. Designers require high temperature, low-leakage, compliant seals to mitigate thermal stresses and control parasitic and cooling airflow between structures. NASA is developing high temperature braided rope seals in a variety of configurations to help solve these problems. This paper will describe the types of seals being developed, describe unique test techniques used to assess seal performance, and present leakage flow data under representative pressure, temperature and scrubbing conditions. Feasibility of the braided rope seals for both an industrial tube seal and a turbine vane seal application is also demonstrated.

Adams, Michael L.↗

NASA NTRS1994

Simulation study of the ROMPS robot control system

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1987

Inverse kinematic-based robot control

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Wolovich, W. A.↗

NASA NTRS1994

Generalized compliant motion primitive

This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set.

Backes, Paul G.↗

NASA NTRS1992

Contact detection and contact motion for error recovery in the presence of uncertainties

Due to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties.

Xiao, Jing↗

NASA NTRS1998

Three Degree of Freedom Parallel Mechanical Linkage

A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.

Adelstein, Bernard D.↗

NASA NTRS2006

Brush Seals for Improved Steam Turbine Performance

GE Energy has retrofitted brush seals into more than 19 operating steam turbines. Brush seals offer superior leakage control compared to labyrinth seals, owing to their compliant nature and ability to maintain very tight clearances to the rotating shaft. Seal designs have been established for steam turbines ranging in size from 12 MW to over 1200 MW, including fossil, nuclear, combined-cycle and industrial applications. Steam turbines present unique design challenges that must be addressed to ensure that the potential performance benefits of brush seals are realized. Brush seals can have important effects on the overall turbine system that must be taken into account to assure reliable operation. Subscale rig tests are instrumental to understanding seal behavior under simulated steam-turbine operating conditions, prior to installing brush seals in the field. This presentation discusses the technical challenges of designing brush seals for steam turbines; subscale testing; performance benefits of brush seals; overall system effects; and field applications.

Turnquist, Norman↗

NASA NTRSDate not supplied

Fluid-Thermal-Structural Interactions in Ramp-Induced Shock-Wave Boundary-Layer Interactions at Mach6

Shock-wave boundary-layer interactions (SWBLI) pose unique challenges for the slender airframes and sharp control surfaces characteristic of high-speed airbreathing aircraft. Spikes in pressure and thermal loading have been shown to occur in SWBLI regions; thus, predicting their location and behavior proves critical for assuring aircraft structural integrity and fatigue resilience. SWBLIs frequently lead to severe turbulent boundary-layer separation and corresponding unsteady motions characterized by a wide range of frequencies. Low-frequency motion has been shown to couple with the structure of a compliant panel, and turbulent boundary layers thus present a particular danger for thin control surfaces. Previous studies have shown that the thermal loading on a compliant panel in a ramp-induced SWBLI may have a signi cant impact on the panel vibrations. A multitude of studies has investigated the heating on rigid structures, but a charactrization of the heating effects on compliant structures is necessary to fully understand the fluid-thermal-structural interactions (FTSI) occurring in ramp-induced SWBLIs. This studuses infrared thermography and high-frequency Kulite pressure transducers to examine the heating loads on rigid and compliant ramps at various angles and flow conditions at Mach 6.

Hypersonic↗

NASA NTRSDate not supplied

Fluid-Thermal-Structural Interactions in Ramp-Induced Shock-Wave Boundary-Layer Interactions at Mach 6

Hypersonic↗

NASA NTRS1989

Compliant Robot Wrist Senses Deflections And Forces

Precise parts assembled without damage. Goddard Space Flight Center developed compliant wrist that moves in any direction and rotates about any axis in response to applied forces. Deflection calibrated and instrumented so control computer measures degree of deflection and derives magnitude and direction of applied forces and torques. Compliant wrist brings to robots important capabilities humans use in manipulating objects. Helps prevent damage to precise, delicate parts during assembly by robot. Rod lengths, spring stiffnesses, and type of displacement sensor changed to suit different applications.

Purves, Lloyd R.↗

NASA NTRS2004

Optimal Synthesis of Compliant Mechanisms using Subdivision and Commercial FEA (DETC2004-57497)

The field of distributed-compliance mechanisms has seen significant work in developing suitable topology optimization tools for their design. These optimal design tools have grown out of the techniques of structural optimization. This paper will build on the previous work in topology optimization and compliant mechanism design by proposing an alternative design space parameterization through control points and adding another step to the process, that of subdivision. The control points allow a specific design to be represented as a solid model during the optimization process. The process of subdivision creates an additional number of control points that help smooth the surface (for example a C(sup 2) continuous surface depending on the method of subdivision chosen) creating a manufacturable design free of some traditional numerical instabilities. Note that these additional control points do not add to the number of design parameters. This alternative parameterization and description as a solid model effectively and completely separates the design variables from the analysis variables during the optimization procedure. The motivation behind this work is to create an automated design tool from task definition to functional prototype created on a CNC or rapid-prototype machine. This paper will describe the proposed compliant mechanism design process and will demonstrate the procedure on several examples common in the literature.

Hull, Patrick V.↗

DOE OSTI2024

Integrate Latimer Controls' Solution into RTAC (CRADA Final Report, CRD-23-24672)

Latimer Controls, Inc. was awarded two vouchers under the Department of Energy's American-Made Solar Prize Round 6 to conduct collaborative research at a national laboratory. The National Renewable Energy Laboratory (NREL) was selected as a partner to assist Latimer Controls in the performance evaluation of its photovoltaic (PV) control software. This collaboration focuses on developing a hardware-in-the-loop (HIL) testbed at NREL, which will be used to test and validate the Latimer PV control technology in a realistic yet de-risked environment. Both Latimer and NREL teams will work together to analyze the collected test data, derive insights, and disseminate the scientific findings. Recent studies underscore the potential of solar energy as a zero-marginal-cost and zero-emission flexibility resource within the bulk power system, particularly when integrated with advanced control systems. To enhance the performance of such systems, Latimer Controls has developed leading-edge technologies, including machine learning (ML) algorithms and hierarchical inverter set-point allocation methods. These innovations are designed to estimate the operational headroom of large PV plants for grid integration and control. However, comprehensive validation under real-world conditions remains necessary. To address this gap, the concurrent CRADA project proposes the real-world application and validation of the Latimer Control solution within a HIL environment. Initially, the Latimer algorithm was developed and tested within MATLAB Simulink, a platform suitable for research-level simulations and iterative development. However, transitioning this technology to a real solar site as an industry-ready solution necessitates implementation in a format compatible with widely used solar power plant controllers. In this additional CRADA work, the MATLAB Simulink-based logic will be translated into Structured Text, a programming language compliant with IEC 61131 standards, which is commonly used for custom logic implementations in industry-leading programmable logic controllers (PLCs), such as the Schweitzer SEL real-time automation controller (RTAC). This transition will facilitate the deployment of the Latimer Control solution in real-world solar power plants, thereby advancing the technology towards commercialization.

14 SOLAR ENERGY↗

DOE OSTI2022

Ultraflexible Smart FLoating Offshore Wind Turbine (USFLOWT) (Final Report) [Slides]

In this final report, we summarize activities and results from the Ultraflexible Smart Floating Offshore Wind Turbine (USFLOWT) project. The project involved co-design of a 10-MW floating offshore wind system, especially the substructure. This substructure was based on the SpiderFLOAT, an ultra-compliant, ultralight, and modular system with actuators for smart platform control that was promising for control co-design. The project’s overall goal was to unlock the floating offshore wind market based on conditions on the North Atlantic coast of the United States. Tasks summarized in the report include Task 2.3 (including controller design for the turbine and the substructure and final design of the SpiderFLOAT), Task 2.4 (final design of the active can ballasting actuator), Task 2.5 (planning for a scale demonstrator), Task 3.1 (technology to market plan), and Task 3.3 (approval in principle). The report also summarizes project dissemination activities at a variety of venues including the lead author and/or presenter for each.

17 WIND ENERGY↗

NASA NTRS2023

Compliant Behaviors for Supervised and Autonomous Robotic Operations

The demands of traditional industrial robotics differ significantly from those of remote, supervised operations in hostile environments, such as operations in space. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. PTWL was tested on a variety of quasi-static and dynamic tasks that may be useful for future space operations. Results demonstrate that PTWL is a powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Joseph D. Cressman↗

NASA NTRS2023

Compliant Robotic Behaviors for Satellite Servicing

The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Compliance↗

NASA NTRS2009

Comparison of Computerized Sway Referencing and Standing on a Compliant Surface

Background: By removing vision and altering somatosensory inputs, we can examine the contributions of the vestibular system on balance control. Computerized Dynamic Posturography (CDP) systems accomplish this by using a dynamic plate that moves in proportion to the sway of the subject. A potential alternative to CDP is the use of a compliant foam surface. The goal of this study was to compare postural sway during each condition. Methods: Thirty-two healthy subjects (16 male and 16 female) were tested on a Equitest computerized posturography system and on a 5 inch thick block of foam (NeuroCom International; Clackamas, OR). Subjects performed three trials with their head erect and five trials with dynamic head tilts ( 20 at 0.33Hz) in the anterior-posterior (AP) plane. Subjects were instructed to stand quietly with their arms folded and eyes closed for each trial lasting 20 seconds. The sway in both AP and medial-lateral (ML) planes was calculated for each trial, as well as the total sway path length. Results: In general, AP sway tended to be greater on the Equitest than on foam and greater during the head movement trials than the head erect. The ML sway was consistently higher on foam and did not vary between head erect and moving conditions. Sway path length was consistently greater for head erect trials on foam and tended to be greater for head movement trials on the Equitest. The addition of head movements increases AP sway and the total path length. Conclusions: Based on the increase of sway in the ML direction, it is important to quantify sway in all directions when on a compliant foam surface.

Dean, S. Lance↗