Robotics Technology Development to Enable Manned, Planetary Exploration
No abstract available
Berka, Reginald B.↗
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ISS Payloads Rack Basic Dimensions in Support of Robotics Technology Development
No abstract available
Kanelakos, Carolynn↗
NASA Thermal Control Technologies for Robotic Spacecraft
Technology development is inevitably a dynamic process in search of an elusive goal. It is never truly clear whether the need for a particular technology drives its development, or the existence of a new capability initiates new applications. Technology development for the thermal control of spacecraft presents an excellent example of this situation. Nevertheless, it is imperative to have a basic plan to help guide and focus such an effort. Although this plan will be a living document that changes with time to reflect technological developments, perceived needs, perceived opportunities, and the ever-changing funding environment, it is still a very useful tool. This presentation summarizes the current efforts at NASA/Goddard and NASA/JPL to develop new thermal control technology for future robotic NASA missions.
Swanson, Theodore D.↗
NASA Thermal Control Technologies for Robotic Spacecraft
Technology development is inevitably a dynamic process in search of an elusive goal. It is never truly clear whether the need for a particular technology drives its development, or the existence of a new capability initiates new applications. Technology development for the thermal control of spacecraft presents an excellent example of this situation. Nevertheless, it is imperative to have a basic plan to help guide and focus such an effort. Although this plan will be a living document that changes with time to reflect technological developments, perceived needs, perceived opportunities, and the ever-changing funding environment, it is still a very useful tool. This presentation summarizes the current efforts at NASA/Goddard and NASA/JPL to develop new thermal control technology for future NASA missions.
Swanson, Theodore D.↗
The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment
The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.
Francoeur, J. R.↗
Advanced Technologies for Robotic Exploration Leading to Human Exploration: Results from the SpaceOps 2015 Workshop
This paper will provide a summary and analysis of the SpaceOps 2015 Workshop all-day session on "Advanced Technologies for Robotic Exploration, Leading to Human Exploration", held at Fucino Space Center, Italy on June 12th, 2015. The session was primarily intended to explore how robotic missions and robotics technologies more generally can help lead to human exploration missions. The session included a wide range of presentations that were roughly grouped into (1) broader background, conceptual, and high-level operations concepts presentations such as the International Space Exploration Coordination Group Roadmap, followed by (2) more detailed narrower presentations such as rover autonomy and communications. The broader presentations helped to provide context and specific technical hooks, and helped lay a foundation for the narrower presentations on more specific challenges and technologies, as well as for the discussion that followed. The discussion that followed the presentations touched on key questions, themes, actions and potential international collaboration opportunities. Some of the themes that were touched on were (1) multi-agent systems, (2) decentralized command and control, (3) autonomy, (4) low-latency teleoperations, (5) science operations, (6) communications, (7) technology pull vs. technology push, and (8) the roles and challenges of operations in early human architecture and mission concept formulation. A number of potential action items resulted from the workshop session, including: (1) using CCSDS as a further collaboration mechanism for human mission operations, (2) making further contact with subject matter experts, (3) initiating informal collaborative efforts to allow for rapid and efficient implementation, and (4) exploring how SpaceOps can support collaboration and information exchange with human exploration efforts. This paper will summarize the session and provide an overview of the above subjects as they emerged from the SpaceOps 2015 Workshop session.
space operations↗
Electrical power technology for robotic planetary rovers
Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.
Bankston, C. P.↗
The mobile servicing system
Viewgraphs on the mobile servicing system (MSS) are presented. Topics covered include: MSS overall configuration; MSS (space segment) hierarchy; functional requirements for special purpose dexterous manipulator (SPDM); SPDM configuration; objective of advanced technology development basic requirements for advanced technology; automation and robotics technologies MSS baseline; and automation and robotics technologies planned for incorporation.
Hunter, David G.↗
Space Technology Mission Directorate Game Changing Development Program Robotic Deposition Technology (RDT)
Explore the source record for details and available documents.
RDT↗
Metamodels for Rapid Analysis of Large Sets of Building Designs for Robotic Constructability: Technology Demonstration Using the NASA 3D Printed Mars Habitat Challenge
Disruptive robotic construction technologies such as additive deposition of cementitious materials like concrete (or "3D concrete printing") require the synchronous operation of multiple pieces of equipment in the production setup. In such an environment, it is crucial to simulate the robotic motions (for toolpath clashes) and the cementitious material behavior (for toolpath failures) to ensure fail-proof constructability of the envisioned building geometry. However, toolpath clash detection requires 4D simulations of the production setup, which are computationally graphics intensive, whereas toolpath failure detection requires actual 3D printing of test parts from the geometry to identify areas prone to failure while 3D printing, which is physically tedious. Both these processes, being computationally and physically intensive, have largely curtailed designers from simulating and exploring large sets of design options with varying geometries and toolpath configurations. To overcome this and allow designers to explore large sets of design possibilities, this paper proposes two novel computational metamodels capable of performing robotic toolpath clash detection and failure detection with significantly reduced times than the earlier approaches. The developed metamodels were used to rapidly simulate large sets of building design options for robotic constructability in the NASA 3D-Printed Mars Habitat Challenge.
clash detection↗
Robotic vision technology and algorithms for space applications
The vision data requirements for various automation and robotics applications for the Space Station are discussed. The advanced systems technology involved with robotic sensing for perception is reviewed, noting the unique requirements of vision systems in space. Three areas of algorithm development are discussed: shape extraction based on illumination, shape extraction by sensor fusion, and generalized image point correspondence. Possibilities for future developments in robotic vision technology are considered.
Krishen, Kumar↗
Development and demonstration of a telerobotic excavation system
Oak Ridge National Laboratory is developing remote excavation technologies for the Department of Energy's Office (DOE) of Technology Development, Robotics Technology Development Program, and also for the Department of Defense (DOD) Project Manager for Ammunition Logistics. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites and unexploded ordnance at DOD sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems.
Burks, Barry L.↗
In-Space Propulsion Technologies for Robotic Exploration of the Solar System
Supporting NASA's Science Mission Directorate, the In-Space Propulsion Technology Program is developing the next generation of space propulsion technologies for robotic, deep-space exploration. Recent technological advancements and demonstrations of key, high-payoff propulsion technologies have been achieved and will be described. Technologies under development and test include aerocapture, solar electric propulsion, solar sail propulsion, and advanced chemical propulsion.
Johnson, Les↗
TH-C-BRC-02: A Review of Emerging Technologies in Robotic SRS/SBRT Delivery
The delivery techniques for SRS/SBRT have been under rapid developments in recent years, which pose new challenges to medical physicists ranging from planning and quality assurance to imaging and motion management. This educational course will provide a general overview of the latest delivery techniques in SRS/SBRT, and discuss the clinical processes to address the challenges of each technique with special emphasis on dedicated gamma-ray based device, robotic x-band linac-based system and conventional C-arm s-band linac-based SRS systems. (1). Gamma-ray based SRS/SRT: This is the gold standard of intracranial SRS. With the advent of precision imaging guidance and frameless patient positioning capabilities, novel stereoscopic CBCT and automatic dose adaption solution are introduced to the Gamma-ray based SRS for the first time. The first North American system has been approved by the US regulatory for patient treatments in the spring of 2016. (2). Robotic SRS/SBRT system: A number of technological milestones have been developed in the past few years, including variable aperture collimator, sequential optimization technique, and the time reduction technique. Recently, a new robotic model allows the option of a multi-leaf collimator. These technological advances have reduced the treatment time and improved dose conformity significantly and could potentially expand the application of radiosurgery for the treatment of targets not previously suitable for robotic SRS/SBRT or fractionated stereotactic radiotherapy. These technological advances have created new demanding mandates on hardware and patient quality assurance (QA) tasks, as well as the need for updating/educating the physicists in the community on these requirements. (3). Conventional Linac based treatments: Modulated arc therapy (MAT) has gained wide popularities in Linac-based treatments in recent years due to its high delivery efficiency and excellent dose conformities. Recently, MAT has been introduced to deliver highly conformal radiosurgery treatments to multiple targets simultaneously via a single isocenter to replace the conventional multi-iso multi-plan treatments. It becomes important to understand the advantages and limitations of this technique, and the pitfalls for implementing this technique in clinical practice. The planning process of single-iso multi-target MAT will be described, and its plan quality and delivery efficiency will be compared with multi-iso plans. The QA process for verifying such complex plans will be illustrated, and pitfalls in imaging and patient set up will be discussed. Overall, this session will focus on the following areas: 1) Update on the emerging technology in current SRS/SBRT delivery. 2) New developments in treatment planning and Quality Assurance program. 3) Imaging guidance and motion management. Learning Objectives: To understand the SRS/SBRT principles and its clinical applications, and gain knowledge on the emerging technologies in SRS/SBRT. To review planning concepts and useful tips in treatment planning. To learn about the imaging guidance procedures and the quality assurance program in SRS/SBRT. National Institutes of Health, Varian Medical System; L. Ren, The presenter is funded by National Institutes of Health and Varian Medical System.
60 APPLIED LIFE SCIENCES↗
The need for reproducible research in soft robotics
In recent years we have witnessed the rise of commercialization efforts for soft robotic technology, including soft grippers (Soft Robotics, Inc.), stretchable sensors (StretchSense, Inc. and Lightlace, Inc.), and platforms for human-robot interaction (Festo Inc., Meta Reality Labs, Toyota Research Institute, and Disney Research). However, commercialization as a whole lags the trends enjoyed by other robotic technology at equivalent points in their respective lifecycles.
43 PARTICLE ACCELERATORS↗
NASA thermal control technologies for robotic spacecraft
This presentation summarizes the current efforts at NASA/Goddard and NASA/JPL to develop new thermal control technology for future robotic NASA missions.
robotic↗
ISRU-Based Robotic Construction Technologies For Lunar And Martian Infrastructures
Economically viable and reliable building systems and tool sets are being sought, examined and tested for extraterrestrial infrastructure buildup. This project utilizes a unique architecture weaving the robotic building construction technology with designs for assisting rapid buildup of initial operational capability Lunar and Martian bases. The project intends to develop and test methodologies to construct certain crucial infrastructure elements in order to evaluate the merits, limitations and feasibility of adapting and using such technologies for extraterrestrial application. High priority infrastructure elements suggested by our NASA advisors to be considered include landing pads and aprons, roads, blast walls and shade walls, thermal and micrometeorite protection shields and dust-free platforms utilizing the well-known insitu resource utilization (ISRU) strategy. Current extraterrestrial settlement buildup philosophy holds that in order to minimize the materials needed to be flown in, at great transportation costs, strategies that maximize the use of locally available resources must be adopted. Tools and heavy equipment flown as cargo from Earth are proposed to build required infrastructure to support future missions and settlements on the Moon and Mars. Several unique systems including the Lunar Electric Rover, the unpressurized Chariot rover, the versatile light-weight crane and Tri-Athlete cargo transporter as well as the habitat module mockups and a new generation of spacesuits are undergoing coordinated tests at NASAs D-RATS. This project intends to draw up a detailed synergetic plan to utilize these maturing systems coupled with modern robotic fabrication technologies based primarily on 3D Printing, tailored for swift and reliable Lunar and Martian infrastructure development. This project also intends to increase astronaut safety, improve buildup performance, ameliorate dust interference and concerns, and reduce time-to-commission, all in an economic manner. The goal stated in our Phase I proposal was a high fidelity demonstration at D-RATS to be conducted at the conclusion of the Phase II study. In the course of the Phase I study, however, it became clear that such demonstration was neither possible (due to the maximum Phase II budget limitation and the cost of NASA assets and related overhead expenses to support such demonstrations), nor necessary (due to NASA's low TRL expectation of Phase II results). These important facts were revealed to us only after interacting with the NIAC administrators and meetings with potential future partners at JPL and KSC. Accordingly, it was decided by the team that in order to make best use of resources we should investigate novel directions in the adaptation of our fabrication technologies by using in-house laboratories and to produce truly useful technologies and data, and then proceed with high fidelity demonstration at a later opportunity when sufficient resources become available. Furthermore, we have recognized that in addition to our building scale 3D printing technology called Contour Crafting, variations of some of our other fabrication technologies under development are suitable for construction of infrastructure elements such as regolith based ceramic tiles and hence we have decided to include some related preliminary research in this Phase II proposal.
Extraterrestrial↗