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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.

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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Determining Thermal Capabilities for External Transfer Operations on the International Space Station

External transfers on the International Space Station (ISS) have a degree of difficulty caused by the severity of the radiative thermal environment and the complexity of the operational choreography to perform the installation and activation of the hardware. These transfers can be performed robotically, by astronauts during an Extra Vehicular Activity (EVA - spacewalk), or combination of robotic/crew operations. Robotic transfers may include capability to intermittently power the hardware; while the hardware remains unpowered for EVA operations. Robotic transfers can be staged to occur in a favorable thermal environment, though typically take longer than a transfer by crew during an EVA where the hardware may not be robotically compatible. The hardware is under passive thermal control, use of optics/multi-layer insulation/heaters, while being transferred from/to a visiting vehicle, airlock, stowage platform, or external ISS structure and may include additional design components, such as removable protective blankets, to meet the transfer requirements. Thermal analysis must be performed to determine the capability of the hardware being transferred to provide the Mission Control team the products necessary to plan and execute the operation while establishing an awareness for any contingency response. An overview of the thermal aspects in planning these types of transfer operations, the analytical approaches and assumptions, and examples of results are provided in this paper.

Thermal↗
DOE OSTI2021

Argonaut - A Robotic System for Cryogenic Environments

Fermilab and the HEP community invest significant resources into liquid argon detectors. The largest and most expensive of these detectors will be located in the Deep Underground Neutrino Experiment (DUNE). However, recent experiences have shown that there are limited avenues of monitoring, intervention, and interaction in the internal liquid environment. This proposal shows a technological path that could provide a valuable tool to ensure or at least improve the management of these HEP detectors. The development of a robotic system named Argonaut will demonstrate several technologies including 1) demonstration of suitable mobility of a small robotic device at liquid argon temperatures, 2) demonstration of wireless communication, 3) demonstration of improved diagnostics capabilities - such as tunable optics with motion control, 4) demonstration of interconnectivity of a robotic system with hardware residing within the detector. This initial research will be a seed for extended development in cold robotics and associated technologies. This work will allow FNAL to contribute a significant technology capability to recent efforts to cryogenic detector operations.

43 PARTICLE ACCELERATORS↗
DOE OSTI2020

TORONE: Total Characterisation by Remote Observation of Nuclear Environments - 20591

This paper describes the autonomous robotic systems developed in the TORONE project (Total Characterisation by Remote Observation of Nuclear Environments) for combined characterisation by remote techniques in nuclear environments. There are four main components to the system. Firstly, robot operation which uses a Robot Operating System (ROS) allowing ease of communication between hardware and software alongside robot vision systems such as Lidar and/or photogrammetry. Secondly, radiation detection instrumentation for gamma and neutron sources which is also collimated for spatial resolution. Thirdly, photonic characterisation instrumentation for remote material identification by means of Raman spectroscopy and Laser induced breakdown spectroscopy (LIBS). Finally, a data management system is described which contains the TORONE characterisation data with the ability to overlay material characterisation information onto 3D maps of the nuclear environment. Preliminary results are described alongside discussion of some of the synergies of the combined approach. There are many applications of such an autonomous system in nuclear decommissioning, waste management and asset management. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1987

Off-line programming motion and process commands for robotic welding of Space Shuttle main engines

The off-line-programming software and hardware being developed for robotic welding of the Space Shuttle main engine are described and illustrated with diagrams, drawings, graphs, and photographs. The menu-driven workstation-based interactive programming system is designed to permit generation of both motion and process commands for the robotic workcell by weld engineers (with only limited knowledge of programming or CAD systems) on the production floor. Consideration is given to the user interface, geometric-sources interfaces, overall menu structure, weld-parameter data base, and displays of run time and archived data. Ongoing efforts to address limitations related to automatic-downhand-configuration coordinated motion, a lack of source codes for the motion-control software, CAD data incompatibility, interfacing with the robotic workcell, and definition of the welding data base are discussed.

Ruokangas, C. C.↗
NASA NTRS1987

Telerobotic truss assembly

The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.

Sheridan, Philip L.↗
NASA NTRS2020

Robotic Assembly Activities at NASA Langley Research Center

Over the past several decades, NASA Langley Research Center (LaRC) has developed a suite of hardware and software capabilities for robotic in-space assembly. Specific robots include the Lightweight Surface Manipulation System (LSMS), Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN), NASA Intelligent Jigging and Assembly Robot (NINJAR), Strut Assembly, Manufacturing, Utility & Robotic Aid (SAMURAI), and most recently the Assemblers modular robots. Alongside the hardware, software tools such as the Autonomous Entity Operations Network (AEON) and the Baseline Environment for Autonomous Modeling (BEAM) have been developed to enable communication and simulation respectively. These tools have supported foundational research in single and multi-agent control, sensing and perception, trajectory generation, task allocation, and human-machine teaming. This talk will provide a broad overview of these capabilities and go into detail on recent developments made by the Assemblers project to create modular, reconfigurable robots for autonomous in-space assembly.

John R Cooper↗
DOE OSTI2020

Robotic Mapping and Monitoring of Nuclear Infrastructure

Routine inspection of nuclear infrastructure is currently expensive and slow. To remedy this the Applied Research Center (ARC) at Florida International University (FIU) is developing a field robot capable of gathering valuable data quickly, safely, and cheaply. Motivation: Nuclear infrastructure should be inspected routinely to ensure early detection of problems. This process is expensive, hazardous, and slow. Objective: Develop a platform capable of surveying nuclear infrastructure autonomously. Discussion: The quality of the captured data depends on the success of every component of the robot. Good sensors, hardware, localization, data collection, and autonomy are required. Conclusion: This is a promising approach for surveying nuclear infrastructure. The captured data is rich with information and can be evaluated by both people and algorithms.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS2000

Towards Evolving Electronic Circuits for Autonomous Space Applications

The relatively new field of Evolvable Hardware studies how simulated evolution can reconfigure, adapt, and design hardware structures in an automated manner. Space applications, especially those requiring autonomy, are potential beneficiaries of evolvable hardware. For example, robotic drilling from a mobile platform requires high-bandwidth controller circuits that are difficult to design. In this paper, we present automated design techniques based on evolutionary search that could potentially be used in such applications. First, we present a method of automatically generating analog circuit designs using evolutionary search and a circuit construction language. Our system allows circuit size (number of devices), circuit topology, and device values to be evolved. Using a parallel genetic algorithm, we present experimental results for five design tasks. Second, we investigate the use of coevolution in automated circuit design. We examine fitness evaluation by comparing the effectiveness of four fitness schedules. The results indicate that solution quality is highest with static and co-evolving fitness schedules as compared to the other two dynamic schedules. We discuss these results and offer two possible explanations for the observed behavior: retention of useful information, and alignment of problem difficulty with circuit proficiency.

Lohn, Jason D.↗
NASA NTRS2022

Robotics Verification and Validation Strategies for Perseverance Rover Sampling and Caching

The Mars 2020 Sampling and Caching Subsystem(SCS) is the most complex robotic system ever fielded on a MarsRover. It includes a 5 degree-of-freedom Robotic Arm, coringdrill, gas Dust Removal Tool, interfaces for two turret-mountedinstruments, and an Adaptive Caching Assembly (ACA). TheACA is itself a complex robotic system, containing hardware tosupport docking and bit exchange, a 3 degree-of-freedomSample Handling Assembly for manipulating sample tubes,storage for several drill bits and sample tubes, and mechanismsto support observing and sealing samples collected by the drill.To successfully verify and validate the SCS hardware andsoftware and its integration with the Mars 2020 flight systemseveral key strategies were employed.The SCS Verification and Validation (V&V) program utilizedmultiple test venues with tiered levels of fidelity. These includedsimulation and visualization software environments, low fidelitydevelopment testbeds, testbeds with high fidelity SCS hardwareand commercial off-the shelf avionics, integrated systemtestbeds with flight-like avionics, and environmental testbedscapable of simulating Martian surface temperature andpressure. Multiple units of each SCS hardware componentmoved fluidly between test venues to accomplish myriadstandalone and coordinated test objectives. Test preparationand executions were performed by a diverse team of engineerswith training and technical ownership tailored for individualexperience and role. Despite significant differences between testvenues, the SCS V&V team established efficient and consistentprocesses and tools for procedure development, test execution,and data review that enabled personnel, as well as technicalproducts such as sequences and parameter configurations, toflow between venues effectively. A series of benchmark testsprovided evidence of performance consistency as elements weretransferred between venues and as system capability evolved.This paper provides an overview of the SCS V&V program andexplores several overarching strategies that enabled successfuloperation in the face of unprecedented complexity. Keyoutcomes of the SCS validation effort are summarized, alongwith lessons learned and beneficial integrations of validationtool and process innovations into Mars surface operations.

Brooks, Sawyer↗
NASA NTRS2023

SelenITA: A Dual Point Lunar Mission to Characterize the Near Surface Dust and Electromagnetic Plasma Environment

SelenITA is a dual CubeSat mission that will provide the first multi-point dust, plasma, and magnetic field measurements in lunar orbit. This mission will advance the understanding of the electromagnetic space environment at the Moon in support of the Artemis program, exploration, and the geosciences. Here we present the science rationale motivating the mission. The candidate mission science objectives include: (1) constrain the origins of crustal magnetic fields; (2) determine the nature of plasma interactions with crustal magnetic fields; (3) characterize plasma waves and turbulence at the Moon; (4) characterize the lunar surface electric potential in varying plasma environments; (5) constrain the composition, thermal state, and structure of the lunar upper mantle and crust; (6) characterize the ionizing radiation in lunar orbit; and lastly, (7) determine the density of the dust exosphere as a function of latitude, longitude, and altitude, including the lunar polar space environment. The measurement requirements include simultaneous two-point observations of the 3-component vector magnetic field, plasma distribution (flux, energy, density, temperature), and single-point observations of energetic particles (protons, electrons, gamma rays), and dust. These measurements are important because it helps us understand how future astronauts, robots, and space hardware will live and work on the lunar surface.

space weather↗
NASA NTRS2023

SelenITA: A Dual Point Lunar Mission to Characterize the Near Surface Dust and Electromagnetic Plasma Environment

SelenITA is a dual CubeSat mission that will provide the first multi-point dust, plasma, and magnetic field measurements in lunar orbit. This mission will advance the understanding of the electromagnetic space environment at the Moon in support of the Artemis program, exploration, and the geosciences. Here we present the science rationale motivating the mission. The candidate mission science objectives include: (1) constrain the origins of crustal magnetic fields; (2) determine the nature of plasma interactions with crustal magnetic fields; (3) characterize plasma waves and turbulence at the Moon; (4) characterize the lunar surface electric potential in varying plasma environments; (5) constrain the composition, thermal state, and structure of the lunar upper mantle and crust; (6) characterize the ionizing radiation in lunar orbit; and lastly, (7) determine the density of the dust exosphere as a function of latitude, longitude, and altitude, including the lunar polar space environment. The measurement requirements include simultaneous two-point observations of the 3-component vector magnetic field, plasma distribution (flux, energy, density, temperature), and single-point observations of energetic particles (protons, electrons, gamma rays), and dust. These measurements are important because it helps us understand how future astronauts, robots, and space hardware will live and work on the lunar surface.

space weather↗
DOE OSTI2024

Robotics for Systems Integration in Buildings: Pilot Study of Viable Approaches to Install Hygrothermal and Rigid Electrical Systems

The Industrialized Construction Innovation (ICI) team at the National Renewable Energy Laboratory (NREL) has been exploring the use of robotics to integrate hygrothermal, mechanical, electrical, and plumbing systems in prefabricated building assemblies (off-site construction) and 3D-printed buildings (on-site construction). Such multisystem integration tasks often require specialized robots and custom end effectors to handle a range of rigid and nonrigid building components. This paper begins with a brief overview of the current state of robotics in construction, followed by a pilot study exploring the use of robotics to integrate a simple prototype multitrade wall assembly composed of structural studs, hygrothermal layer, wall finishing, and electrical fixtures. The study was funded by the US Department of Energy's (DOE's) Advanced Materials and Manufacturing Technologies Office (AMMTO). Insights about the implementation of design for manufacturing and assembly (DfMA) principles in designing the prototype wall for robotic assembly, and selection of appropriate robotic end-effector hardware to handle these components are included. Detailed comparison of computational toolpath simulations of the robotic assembly process and real-life demonstration of the same are presented. Finally, limitations and lessons learned from this study are included, along with future research recommendations for robotic assembly of more complex multitrade assemblies, including potential scenarios such as robotic outfitting of facilities in extraterrestrial environments.

advanced manufacturing↗
DOE OSTI2026

Robotics for HVAC applications: A critical review and future perspectives

Recent advances in artificial intelligence (AI), enhanced computational capabilities, and innovations in sensors and hardware have driven the increasing development and application of robots in heating, ventilation, and air conditioning (HVAC) systems. We selected and reviewed 101 studies published between 2005 and 2025, sourced from IEEE Xplore, Scopus, Web of Science, and the ACM Digital Library. To analyze these works, we developed a five-dimensional analytical framework (morphology, sensing, navigation, task execution, and system integration), inspired by the Springer Handbook of Robotics and tailored specifically for robotic applications in HVAC. Based on the reviewed studies, six distinct tasks spanning the entire HVAC lifecycle have been identified. Among the six tasks, inspection and maintenance dominate (59 %), followed by indoor monitoring and auditing (21 %), whereas leakage detection, comfort support, and installation/retrofit remain less explored. To address the identified gaps, this review proposes future research directions including investigating robot-aware HVAC design principles, developing multimodal HVAC sensing and data fusion techniques, enhancing robot training and hardware capabilities, and expanding robotic applications beyond Maintenance and Operations (M&O). The findings from this review inform future robotics research for HVAC applications and ultimately enhance system affordability, energy efficiency, resilience or reliability, and occupant environmental comfort. Moreover, it seeks to inspire researchers to explore the intersections of robotics, computer science, building science, and HVAC engineering fostering advancements in this multidisciplinary field.

AI↗
NASA NTRS2021

SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments

Engineers and scientists often rely on their intuition and experience when designing soft robotic systems. The development of performant controllers and motion plans for these systems commonly requires time-consuming iterations on hardware. We present the SoMo (Soft Motion) toolkit, a software framework that makes it easy to instantiate and control typical continuum manipulators in an accurate physics simulator. SoMo introduces a standardized and human-readable description format for continuum manipulators. It leverages this description format and the Bullet physics engine to enable fast and accurate simulations of soft and soft-rigid hybrid robots in environments with complex contact interactions. This allows users to vary design and control parameters across simulations with minimal effort. We compare the capabilities of SoMo to other physics simulators and highlight the benefits and accuracy of SoMo by demonstrating the agreement between simulation and real-world experiments on several examples; these include an in-hand manipulation task with continuum fingers, an automated exploration of how to design soft fingers for precision grasping, and a brief snake locomotion study. Overall, SoMo provides an accessible way for designers of soft robotic hardware and control systems to gain access to a simulation-accelerated workflow.

Moritz A. Graule↗
NASA NTRS1991

Robotics in space-age manufacturing

Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

Jones, Chip↗
NASA NTRS1989

The KALI multi-arm robot programming and control environment

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Backes, Paul↗
NASA NTRS1987

Development of hardwares and computer interface for a two-degree-of-freedom robot

The research results that were obtained are reviewed. Then the robot actuator, the selection of the data acquisition system, and the design of the power amplifier will be discussed. The machine design of the robot manipulator will then be presented. After that, the integration of the developed hardware into the open-loop system will also be discussed. Current and future research work is addressed.

Nguyen, Charles C.↗