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At least 793 records · Page 44

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DOE OSTI2018

Robot Navigation in a Rich Information Map for Inspection in Nuclear Environments - 18596

This paper discusses our approach of using an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments. To reduce people's exposure to the environment with elevated radiation levels, our goal is enabling UGV to navigate and perform inspections fully autonomous with no human getting involved. To achieve the full automation, the UGV can take use of a rich information map. In traditional robot navigation, the 2D global cost map used for planning path consists only obstacle locations, while a rich information map also includes location information of interested objects to robot. The UGV can then use a rich information map to perform routine inspection tasks with known object locations. In this paper, we will present our method of generating a rich information map and the usage of this map for International Atomic Energy Agency (IAEA) Robotics Challenge. (authors)

42 ENGINEERING↗

NASA NTRS2019

Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations

This work assesses an adaptive approach to fault recovery in autonomous robotic space operations, which uses indicators of opportunity, such as physiological state measurements and observations of past human assistant performance, to inform future selections. We validated our reinforcement learning approach using data we collected from humans executing simulated mission scenarios. We present a method of structuring human-factors experiments that permits collection of relevant indicator of opportunity and assigned assistance task performance data, as well as evaluation of our adaptive approach, without requiring large numbers of test subjects. Application of our reinforcement learning algorithm to our experimental data shows that our adaptive assistant selection approach can achieve lower cumulative regret compared to existing non-adaptive baseline approaches when using real human data. Our work has applications beyond space robotics to any application where autonomy failures may occur that require external intervention.

Human-centered robotics↗

DOE OSTI2022

Robotic four-dimensional pixel assembly of van der Waals solids

Van der Waals (vdW) solids can be engineered with atomically precise vertical composition through the assembly of layered two-dimensional materials. However, the artisanal assembly of structures from micromechanically exfoliated flakes is not compatible with scalable and rapid manufacturing. Further engineering of vdW solids requires precisely designed and controlled composition over all three spatial dimensions and interlayer rotation. Here, we report a robotic four-dimensional pixel assembly method for manufacturing vdW solids with unprecedented speed, deliberate design, large area and angle control. We used the robotic assembly of prepatterned 'pixels' made from atomically thin two-dimensional components. Wafer-scale two-dimensional material films were grown, patterned through a clean, contact-free process and assembled using engineered adhesive stamps actuated by a high-vacuum robot. We fabricated vdW solids with up to 80 individual layers, consisting of 100 x 100 μm 2 areas with predesigned patterned shapes, laterally/vertically programmed composition and controlled interlayer angle. This enabled efficient optical spectroscopic assays of the vdW solids, revealing new excitonic and absorbance layer dependencies in MoS 2 . Furthermore, we fabricated twisted $N$-layer assemblies, where we observed atomic reconstruction of twisted four-layer WS 2 at high interlayer twist angles of >= 4°. In conclusion, our method enables the rapid manufacturing of atomically resolved quantum materials, which could help realize the full potential of vdW heterostructures as a platform for novel physics and advanced electronic technologies.

42 ENGINEERING↗

DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

DOE OSTI2021

The FRAM robotic telescope for atmospheric monitoring at the Pierre Auger Observatory

FRAM (F/Photometric Robotic Atmospheric Monitor) is a robotic telescope operated at the Pierre Auger Observatory in Argentina for the purposes of atmospheric monitoring using stellar photometry. As a passive system which does not produce any light that could interfere with the observations of the fluorescence telescopes of the observatory, it complements the active monitoring systems that use lasers. We discuss the applications of stellar photometry for atmospheric monitoring at optical observatories in general and the particular modes of operation employed by the Auger FRAM. We describe in detail the technical aspects of FRAM, the hardware and software requirements for a successful operation of a robotic telescope for such a purpose and their implementation within the FRAM system.

Optics↗

DOE OSTI2026

Design and Integration of a Compact Mobile Outdoor Soil Sampling Agricultural Robot

The lack of feedback on soil management for crop systems necessitates the collection of soil samples to derive insights into prevailing soil conditions. Achieving an accurate model of these plantations requires a substantial number of soil samples, which is a labor-intensive process that can suffer from inconsistencies in both the methodology of collection and the locations from which samples are gathered. In addition, the close spacing of crop rows constrains the maneuverability of mobile agricultural equipment during sample collection. This article proposes the use of agricultural robotics to facilitate the acquisition of composite soil samples with minimal human intervention, allowing for precise data collection for a Populus plant system. More specifically, this article presents a case study on the design and construction of a compact agricultural robot for soil sample collection. The performance of the robot, including its soil collection efficacy, maneuverability, and positional accuracy, is evaluated.

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DOE OSTI2019

Robotic Left Hepatectomy and Roux-en-Y Hepaticojejunostomy After Bile Duct Injury

Background: Bile duct injuries after cholecystectomy remain a major concern because their incidence has not changed through the years despite technical advances. This video presents a robotic left hepatectomy and Roux-en-Y hepaticojejunostomy as a treatment for a complex bile duct injury after laparoscopic cholecystectomy. Methods: A 52-year-old man underwent laparoscopic cholecystectomy at another institution 8 years previously, which resulted in a bile duct injury. His postoperative period was complicated by jaundice and cholangitis. He was treated with endoscopic retrograde cholangiopancreatography and multiple endoprostheses for 3 years, after which the endoprostheses were removed, and he was sent to the authors’ institution. Computed tomography showed that the left liver had signs of disturbed perfusion and dilation of the left intrahepatic bile duct. The patient was asymptomatic and refused any further attempt at surgical correction of the lesion. He was accompanied for 5 years. Magnetic resonance imaging showed progressive atrophy of the left liver. Finally, 3 months before this writing, he presented with intermittent episodes of cholangitis. A multidisciplinary team decided to perform left hepatectomy with Roux-en-Y hepatojejunostomy via a robotic approach. The left liver was atrophied, and left hepatectomy was performed. Fluorescence imaging was used to identify the right bile duct. At opening of the right bile duct, small stones were found and removed. Antecolic Roux-en-Y hepaticojejunostomy then was performed. Results: The operative time was 335 min. Recovery was uneventful, and the patient was discharged on postoperative day 4. Conclusions: Robotic repair of bile duct injuries is feasible and safe, even when liver resection is necessary. This video may help oncologic surgeons to perform this complex procedure.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2018

Gamma-ray raster imaging with robotic data collection. FY18 report

This project has developed an alternative imaging capability for measuring radioactive materials in situ. This approach uses a robotic-mounted gamma-ray detector which can move around an area of interest, sampling the space at a high frequency. By rastering across the area, an image can be created with no collimation and a high efficiency. A regression model was developed to map out material distribution as the robot moves through the environment. An informative path planning algorithm was also developed to maximize the information collected throughout the movement path. The use of a robotic mount allows data collection for long periods of time unattended, and it will also eliminate uncertainties in positioning typically introduced by personnel. This approach will be particularly relevant for gloveboxes, shielded cells, or process piping which may have complex, non-uniform distributions of material.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2019

Optimization of Adjustable Drivetrain Assistance Mechanisms for Efficient Robotic Bipeds

Legged robots promise radical mobility for challenging environments, but must be made more energy efficient to be practical. Historically, legged robot design has required efficiency to be traded against versatility. Much energy is lost in actuators and transmissions because few actuation systems are capable of operating efficiently across the wide range of operating conditions (e.g. different joint speeds and torques) required for legged locomotion. We describe a drivetrain topology that overcomes many of these limitations. Our approach combines high-torque electromagnetic motors and low-loss transmissions with a tailored and adjustable set of joint-specific passive mechanisms called support elements, which modulate the energy flow between motors and joints to minimize the electrical energy consumed. We present an optimization-based design method that draws on available bipedal gait data to select optimal support element configurations and parameters. Simple adjustments may be made to support elements at certain joints to enable a wide variety of locomotion with high efficiency. We present results, specific to the 3D humanoid bipedal STEPPR robot, in which support elements are co-optimized across a library of several gaits, converging on a set of designs that predict an average reduction of electrical energy of more than 50% across a set of 15 gaits, with energy savings reaching as much as 85% for some gaits. Concepts were prototyped and tested on a bench testbed, validating the predicted energy savings. Support elements were implemented on STEPPR, and energy savings of more than 35% were demonstrated.

42 ENGINEERING↗

DOE OSTI2023

Development of a Web-Based Graphical User Interface for Fermilab Robots

This project provides the students/faculty team with the unique opportunity to work with several robots. Additionally, the student team will be able to learn from the experience of the Robotics Initiative members who have a wide variety of technical backgrounds outside of software development. Working with an interdisciplinary group to solve a complex problem that is unique to our facility, is a valuable experience that the lab can provide. This project aligns with the ACORN projects R&D efforts regarding the integration of robotics status/control with the accelerator control system.

43 PARTICLE ACCELERATORS↗

DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗

DOE OSTI2022

The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)

Abstract A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10–20 minutes, each to a precision of several microns, with a reconfiguration time of fewer than 2 minutes. Over the next 5 yr, they will enable the newly constructed Dark Energy Spectroscopic Instrument (DESI) to measure the spectra of 35 million galaxies and quasars. DESI will produce the largest 3D map of the universe to date and measure the expansion history of the cosmos. In addition to the 5020 robotic positioners and optical fibers, DESI’s Focal Plane System includes six guide cameras, four wave front cameras, 123 fiducial point sources, and a metrology camera mounted at the primary mirror. The system also includes associated structural, thermal, and electrical systems. In all, it contains over 675,000 individual parts. We discuss the design, construction, quality control, and integration of all these components. We include a summary of the key requirements, the review and acceptance process, on-sky validations of requirements, and lessons learned for future multiobject, fiber-fed spectrographs.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1972

A cognitive operating system (COGNOSYS) for JPL's robot, phase 1 report

The most important software requirement for any robot development is the COGNitive Operating SYStem (COGNOSYS). This report describes the Stanford University Artificial Intelligence Laboratory's hand eye software system from the point of view of developing a cognitive operating system for JPL's robot. In this, the Phase 1 of the JPL robot COGNOSYS task the installation of a SAIL compiler and a FAIL assembler on Caltech's PDP-10 have been accomplished and guidelines have been prepared for the implementation of a Stanford University type hand eye software system on JPL-Caltech's computing facility. The alternatives offered by using RAND-USC's PDP-10 Tenex operating sytem are also considered.

Mathur, F. P.↗

NASA NTRS1972

Robot, computer problem solving system

The development of a computer problem solving system is reported that considers physical problems faced by an artificial robot moving around in a complex environment. Fundamental interaction constraints with a real environment are simulated for the robot by visual scan and creation of an internal environmental model. The programming system used in constructing the problem solving system for the simulated robot and its simulated world environment is outlined together with the task that the system is capable of performing. A very general framework for understanding the relationship between an observed behavior and an adequate description of that behavior is included.

Becker, J. D.↗

NASA NTRS1980

Machine intelligence and robotics: Report of the NASA study group

Opportunities for the application of machine intelligence and robotics in NASA missions and systems were identified. The benefits of successful adoption of machine intelligence and robotics techniques were estimated and forecasts were prepared to show their growth potential. Program options for research, advanced development, and implementation of machine intelligence and robot technology for use in program planning are presented.

Source record↗

NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

Lowrie, J. W.↗

NASA NTRS1983

Application of Kalman filters to robot calibration

This report explores new uses of Kalman filter theory in manufacturing systems (robots in particular). The Kalman filter allows the robot to read its sensors plus external sensors and learn from its experience. In effect, the robot is given primitive intelligence. The study, which is applicable to any type of powered kinematic linkage, focuses on the calibration of a manipulator.

Whitney, D. E.↗

NASA NTRS1981

Simplified robot arm dynamics for control

A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

Bejczy, A. K.↗