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NASA NTRS2004

Artificial Muscle Kits for the Classroom

Commonly referred to as "artificial muscles," electroactive polymer (EAP) materials are lightweight strips of highly flexible plastic that bend or stretch when subjected to electric voltage. EAP materials may prove to be a substitution for conventional actuation components such as motors and gears. Since the materials behave similarly to biological muscles, this emerging technology has the potential to develop improved prosthetics and biologically-inspired robots, and may even one day replace damaged human muscles. The practical application of artificial muscles provides a challenge, however, since the material requires improved effectiveness and durability before it can fulfill its potential.

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NASA NTRS2005

Impression Testing of Self-Healing Polymers

As part of the BIOSANT program (biologically-inspired smart nanotechnology), scientists at NASA-Langley have identified a "self-healing" plastic that spontaneously closes the hole left by the passage of a bullet. To understand and generalize the phenomenon in question, the mechanical properties responsible for this ability are being explored. Low-rate impression testing was chosen to characterize post-yield material properties, and it turned out that materials that heal following ballistic puncture also show up to 80% healing of the low-rate impression. Preliminary results on the effects of temperature and rate of puncture are presented.

Hinkley, Jeffrey A.↗

NASA NTRS2006

Automated, on-board terrain analysis for precision landings

Advances in space robotics technology hinge to a large extent upon the development and deployment of sophisticated new vision-based methods for automated in-space mission operations and scientific survey. To this end, we have developed a new concept for automated terrain analysis that is based upon a generic image enhancement platform|multi-scale retinex (MSR) and visual servo (VS) processing. This pre-conditioning with the MSR and the vs produces a "canonical" visual representation that is largely independent of lighting variations, and exposure errors. Enhanced imagery is then processed with a biologically inspired two-channel edge detection process, followed by a smoothness based criteria for image segmentation. Landing sites can be automatically determined by examining the results of the smoothness-based segmentation which shows those areas in the image that surpass a minimum degree of smoothness. Though the msr has proven to be a very strong enhancement engine, the other elements of the approach|the vs, terrain map generation, and smoothness-based segmentation|are in early stages of development. Experimental results on data from the Mars Global Surveyor show that the imagery can be processed to automatically obtain smooth landing sites. In this paper, we describe the method used to obtain these landing sites, and also examine the smoothness criteria in terms of the imager and scene characteristics. Several examples of applying this method to simulated and real imagery are shown.

Rahman, Zia-ur↗

NASA NTRS2006

Biomimetics - using nature as an inspiring model for innovation

In this presentation, various aspects of the field of biomimetics will be reviewed, examples of inspiring biological models and practical applications will be described, and challenges and potential direction of the field will be discussed.

artificial muscles↗

NASA NTRS2006

Automated On-board Terrain Analysis for Precision Landings

Advances in space robotics technology hinge to a large extent upon the development and deployment of sophisticated new vision-based methods for automated in-space mission operations and scientific survey. To this end, we have developed a new concept for automated terrain analysis that is based upon a generic image enhancement platform-multi-scale Retinex (MSR) and visual servo (VS) processing. This pre-conditioning with the MSR and the VS produces a "canonical" visual representation that is largely independent of lighting variations, and exposure errors. Enhanced imagery is then processed with a biologically inspired two-channel edge detection process, followed by a smoothness based criteria for image segmentation. Landing sites can be automatically determined by examining the results of the smoothness-based segmentation which shows those areas in the image that surpass a minimum degree of smoothness. Though the MSR has proven to be a very strong enhancement engine, the other elements of the approach, the VS, terrain map generation, and smoothness-based segmentation, are in early stages of development. Experimental results on data from the Mars Global Surveyor show that the imagery can be processed to automatically obtain smooth landing sites. In this paper, we describe the method used to obtain these landing sites, and also examine the smoothness criteria in terms of the imager and scene characteristics. Several examples of applying this method to simulated and real imagery are shown.

Rahman, Zia-ur↗

NASA NTRS2009

NASA Tech Briefs, August 2009

Topics covered include: Aligning a Receiving Antenna Array to Reduce Interference; Collecting Ground Samples for Balloon-Borne Instruments; Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample; Enhanced Video-Oculography System; Joint Carrier-Phase Synchronization and LDPC Decoding; Dual-Polarization, Sideband-Separating, Balanced Receiver for 1.5 THz Modular Battery Charge Controller; Efficient Multiplexer FPGA Block Structures Based on G4FETs; VLSI Microsystem for Rapid Bioinformatic Pattern Recognition; Low-Noise Amplifier for 100 to 180 GHz; Improved Fabrication of Ceramic Matrix Composite/Foam Core Integrated Structures; Inert Welding/Brazing Gas Filters and Dryers; Fabricating Copper Nanotubes by Electrodeposition; Reducing Aerodynamic Drag on Empty Open Cargo Vehicles; Rotary Percussive Auto-Gopher for Deep Drilling and Sampling; More About Reconfigurable Exploratory Robotic Vehicles; Thermostatic Valves Containing Silicone-Oil Actuators; Improving Heat Flux Performance of Flat Surface in Spray-Cooling Systems; Treating Fibrous Insulation to Reduce Thermal Conductivity; Silica-Aerogel Composites Opacified with La(sub0.7)Sr(sub0.3)MnO3; Cyclic Oxidation Behavior of CuCrAl Cold-Sprayed Coatings for Reusable Launch Vehicles; Ceramic Fiber Structures for Cryogenic Load-Bearing Applications; Elastomer Reinforced with Carbon Nanotubes; Biologically Inspired Purification and Dispersion of SWCNTs; A Technique for Adjusting Eigenfrequencies of WGM Resonators; Low-Pressure, Field-Ionizing Mass Spectrometer; Modifying Operating Cycles to Increase Stability in a LITS; Chamber for Simulating Martian and Terrestrial Environments; Algorithm for Detecting a Bright Spot in an Image; Extreme Programming: Maestro Style; Adaptive Behavior for Mobile Robots; Protocol for Communication Networking for Formation Flying; Planning Complex Sequences Using Compressed Representations; and Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors.

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NASA NTRS2011

Evolutionary Computational Methods for Identifying Emergent Behavior in Autonomous Systems

A technique based on Evolutionary Computational Methods (ECMs) was developed that allows for the automated optimization of complex computationally modeled systems, such as autonomous systems. The primary technology, which enables the ECM to find optimal solutions in complex search spaces, derives from evolutionary algorithms such as the genetic algorithm and differential evolution. These methods are based on biological processes, particularly genetics, and define an iterative process that evolves parameter sets into an optimum. Evolutionary computation is a method that operates on a population of existing computational-based engineering models (or simulators) and competes them using biologically inspired genetic operators on large parallel cluster computers. The result is the ability to automatically find design optimizations and trades, and thereby greatly amplify the role of the system engineer.

Terrile, Richard J.↗

NASA NTRS2003

Mirrors Containing Biomimetic Shape-Control Actuators

Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call for segmentation of the electrodes on the actuators so that voltages could be applied locally to effect local bending for fine adjustment of the surface figure.

Bar-Cohen, Yoseph↗

NASA NTRS2012

Discrete Adjoint-Based Design for Unsteady Turbulent Flows On Dynamic Overset Unstructured Grids

A discrete adjoint-based design methodology for unsteady turbulent flows on three-dimensional dynamic overset unstructured grids is formulated, implemented, and verified. The methodology supports both compressible and incompressible flows and is amenable to massively parallel computing environments. The approach provides a general framework for performing highly efficient and discretely consistent sensitivity analysis for problems involving arbitrary combinations of overset unstructured grids which may be static, undergoing rigid or deforming motions, or any combination thereof. General parent-child motions are also accommodated, and the accuracy of the implementation is established using an independent verification based on a complex-variable approach. The methodology is used to demonstrate aerodynamic optimizations of a wind turbine geometry, a biologically-inspired flapping wing, and a complex helicopter configuration subject to trimming constraints. The objective function for each problem is successfully reduced and all specified constraints are satisfied.

Nielsen, Eric J.↗

NASA NTRS2011

Compliant Tactile Sensors

Tactile sensors are currently being designed to sense interactions with human hands or pen-like interfaces. They are generally embedded in screens, keyboards, mousepads, and pushbuttons. However, they are not well fitted to sense interactions with all kinds of objects. A novel sensor was originally designed to investigate robotics manipulation where not only the contact with an object needs to be detected, but also where the object needs to be held and manipulated. This tactile sensor has been designed with features that allow it to sense a large variety of objects in human environments. The sensor is capable of detecting forces coming from any direction. As a result, this sensor delivers a force vector with three components. In contrast to most of the tactile sensors that are flat, this one sticks out from the surface so that it is likely to come in contact with objects. The sensor conforms to the object with which it interacts. This augments the contact's surface, consequently reducing the stress applied to the object. This feature makes the sensor ideal for grabbing objects and other applications that require compliance with objects. The operational range of the sensor allows it to operate well with objects found in peoples' daily life. The fabrication of this sensor is simple and inexpensive because of its compact mechanical configuration and reduced electronics. These features are convenient for mass production of individual sensors as well as dense arrays. The biologically inspired tactile sensor is sensitive to both normal and lateral forces, providing better feedback to the host robot about the object to be grabbed. It has a high sensitivity, enabling its use in manipulation fingers, which typically have low mechanical impedance in order to be very compliant. The construction of the sensor is simple, using inexpensive technologies like silicon rubber molding and standard stock electronics.

Torres-Jara, Eduardo R.↗

NASA NTRS2012

Concept-Development of a Structure Supported Membrane for Deployable Space Applications - From Nature to Manufacture and Testing

Current space applications of membrane structures include large area solar power arrays, solar sails, antennas, and numerous other large aperture devices like the solar shades of the new James Webb Space Telescope. These expandable structural systems, deployed in-orbit to achieve the desired geometry, are used to collect, reflect and/or transmit electromagnetic radiation. This work, a feasibility study supporting a diploma thesis, describes the systematic process for developing a biologically inspired concept for a structure supported (integrated) membrane, that features a rip stop principle, makes self-deployment possible and is part of an ultra-light weight space application. Novel manufacturing of membrane prototypes and test results are presented for the rip-stop concepts. Test data showed that the new membrane concept has a higher tear resistance than neat film of equivalent mass.

Zander, Martin↗

NASA NTRS2012

Applying Biomimetic Algorithms for Extra-Terrestrial Habitat Generation

The objective is to simulate and optimize distributed cooperation among a network of robots tasked with cooperative excavation on an extra-terrestrial surface. Additionally to examine the concept of directed Emergence among a group of limited artificially intelligent agents. Emergence is the concept of achieving complex results from very simple rules or interactions. For example, in a termite mound each individual termite does not carry a blueprint of how to make their home in a global sense, but their interactions based strictly on local desires create a complex superstructure. Leveraging this Emergence concept applied to a simulation of cooperative agents (robots) will allow an examination of the success of non-directed group strategy achieving specific results. Specifically the simulation will be a testbed to evaluate population based robotic exploration and cooperative strategies while leveraging the evolutionary teamwork approach in the face of uncertainty about the environment and partial loss of sensors. Checking against a cost function and 'social' constraints will optimize cooperation when excavating a simulated tunnel. Agents will act locally with non-local results. The rules by which the simulated robots interact will be optimized to the simplest possible for the desired result, leveraging Emergence. Sensor malfunction and line of sight issues will be incorporated into the simulation. This approach falls under Swarm Robotics, a subset of robot control concerned with finding ways to control large groups of robots. Swarm Robotics often contains biologically inspired approaches, research comes from social insect observation but also data from among groups of herding, schooling, and flocking animals. Biomimetic algorithms applied to manned space exploration is the method under consideration for further study.

Birge, Brian↗

NASA NTRS2011

Biomimetics and the Development of Humanlike Robots as the Ultimate Challenge

Evolution led to effective solutions to nature's challenges and they were improved over millions of years. Humans have always made efforts to use nature as a model for innovation and problems solving. These efforts became more intensive in recent years where systematic studies of nature are being made towards better understanding and applying more sophisticated capabilities. Making humanlike robots, including the appearance, functions and intelligence, poses the ultimate challenges to biomimetics. For many years, making such robots was considered science fiction, but as a result of significant advances in biologically inspired technologies, such robots are increasingly becoming an engineering reality. There are already humanlike robots that walk, talk, interpret speech, make eye-contact and facial expressions, as well as perform many other humanlike functions. In this paper, the state-of-the-art of humanlike robots, potential applications and issues of concern will be reviewed.

humanlike↗

NASA NTRS2012

Method of improving system performance and survivability through changing function

A biologically-inspired system and method is provided for self-adapting behavior of swarm-based exploration missions, whereby individual components, for example, spacecraft, in the system can sacrifice themselves for the greater good of the entire system. The swarm-based system can exhibit emergent self-adapting behavior. Each component can be configured to exhibit self-sacrifice behavior based on Autonomic System Specification Language (ASSL).

Hinchey, Michael G.↗

NASA NTRS2013

Elastically Shaped Wing Optimization and Aircraft Concept for Improved Cruise Efficiency

This paper presents the findings of a study conducted tn 2010 by the NASA Innovation Fund Award project entitled "Elastically Shaped Future Air Vehicle Concept". The study presents three themes in support of meeting national and global aviation challenges of reducing fuel burn for present and future aviation systems. The first theme addresses the drag reduction goal through innovative vehicle configurations via non-planar wing optimization. Two wing candidate concepts have been identified from the wing optimization: a drooped wing shape and an inflected wing shape. The drooped wing shape is a truly biologically inspired wing concept that mimics a seagull wing and could achieve about 5% to 6% drag reduction, which is aerodynamically significant. From a practical perspective, this concept would require new radical changes to the current aircraft development capabilities for new vehicles with futuristic-looking wings such as this concept. The inflected wing concepts could achieve between 3% to 4% drag reduction. While the drag reduction benefit may be less, the inflected-wing concept could have a near-term impact since this concept could be developed within the current aircraft development capabilities. The second theme addresses the drag reduction goal through a new concept of elastic wing shaping control. By aeroelastically tailoring the wing shape with active control to maintain optimal aerodynamics, a significant drag reduction benefit could be realized. A significant reduction in fuel burn for long-range cruise from elastic wing shaping control could be realized. To realize the potential of the elastic wing shaping control concept, the third theme emerges that addresses the drag reduction goal through a new aerodynamic control effector called a variable camber continuous trailing edge flap. Conventional aerodynamic control surfaces are discrete independent surfaces that cause geometric discontinuities at the trailing edge region. These discontinuities promote vorticities which result in drag rises as well as noise sources. The variable camber trailing edge flap concept could provide a substantial drag reduction benefit over a conventional discrete flap system. Aerodynamic simulations show a drag reduction of over 50% could be achieved with the flap concept over a conventional discrete flap system.

Nguyen, Nhan↗

NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗

NASA NTRS2011

Clonal Selection Based Artificial Immune System for Generalized Pattern Recognition

The last two decades has seen a rapid increase in the application of AIS (Artificial Immune Systems) modeled after the human immune system to a wide range of areas including network intrusion detection, job shop scheduling, classification, pattern recognition, and robot control. JPL (Jet Propulsion Laboratory) has developed an integrated pattern recognition/classification system called AISLE (Artificial Immune System for Learning and Exploration) based on biologically inspired models of B-cell dynamics in the immune system. When used for unsupervised or supervised classification, the method scales linearly with the number of dimensions, has performance that is relatively independent of the total size of the dataset, and has been shown to perform as well as traditional clustering methods. When used for pattern recognition, the method efficiently isolates the appropriate matches in the data set. The paper presents the underlying structure of AISLE and the results from a number of experimental studies.

pattern recognition↗

NASA NTRS2009

Humanlike Robots - The Upcoming Revolution in Robotics

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

EAP↗