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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Robotic Ankle for Omnidirectional Rock Anchors

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Parness, Aaron↗
NASA NTRS2009

ATHLETE: a Cargo and Habitat Transporter for the Moon

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The vehicle concept is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through (or at least out of) extreme terrain, the wheels and wheel actuators can be sized only for nominal terrain. There are substantial mass savings in the wheels and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25 percent lighter than a conventional mobility chassis for planetary exploration. A side benefit of this approach is that each limb has sufficient degrees-of-freedom for use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A rotating power-take-off from the wheel actuates the tools, so that they can take advantage of the 1-plus-horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

mobile habitats↗
NASA NTRS2009

IceBreaker 2

Presentation on hypothetical "Icebreaker" proposed robotic mission, a follow-on to the 2007Phoenix Mars polar lander which replaces the sco op with a lightweight drill.

Glass, Brian J.↗
NASA NTRS1989

Robotic sampling system for an unmanned Mars mission

A major robotics opportunity for NASA will be the Mars Rover/Sample Return Mission which could be launched as early as the 1990s. The exploratory portion of this mission will include two autonomous subsystems: the rover vehicle and a sample handling system. The sample handling system is the key to the process of collecting Martian soils. This system could include a core drill, a general-purpose manipulator, tools, containers, a return canister, certification hardware and a labeling system. Integrated into a functional package, the sample handling system is analogous to a complex robotic workcell. Discussed here are the different components of the system, their interfaces, forseeable problem areas and many options based on the scientific goals of the mission. The various interfaces in the sample handling process (component to component and handling system to rover) will be a major engineering effort. Two critical evaluation criteria that will be imposed on the system are flexibility and reliability. It needs to be flexible enough to adapt to different scenarios and environments and acquire the most desirable specimens for return to Earth. Scientists may decide to change the distribution and ratio of core samples to rock samples in the canister. The long distance and duration of this planetary mission places a reliability burden on the hardware. The communication time delay between Earth and Mars minimizes operator interaction (teleoperation, supervisory modes) with the sample handler. An intelligent system will be required to plan the actions, make sample choices, interpret sensor inputs, and query unknown surroundings. A combination of autonomous functions and supervised movements will be integrated into the sample handling system.

Chun, Wendell↗
NASA NTRS2000

Mechanical Abrasion as a Low Cost Technique for Contamination-Free Sample Acquisition from a Category IVA Clean Platform

The proposed Mars Sample Transfer Chain Architecture provides Planetary Protection Officers with clean samples that are required for the eventual release from confinement of the returned Martian samples. At the same time, absolute cleanliness and sterility requirement is not placed of any part of the Lander (including the deep drill), Mars Assent Vehicle (MAV), any part of the Orbiting Sample container (OS), Rover mobility platform, any part of the Minicorer, Robotic arm (including instrument sensors), and most of the caching equipment on the Rover. The removal of the strict requirements in excess of the Category IVa cleanliness (Pathfinder clean) is expected to lead to significant cost savings. The proposed architecture assumes that crosscontamination renders all surfaces in the vicinity of the rover(s) and the lander(s) contaminated. Thus, no accessible surface of Martian rocks and soil is Earth contamination free. As a result of the latter, only subsurface samples (either rock or soil) can be and will be collected for eventual return to Earth. Uncontaminated samples can be collected from a Category IVa clean platform. Both subsurface soil and rock samples can be maintained clean if they are collected by devices that are self-contained and clean and sterile inside only. The top layer of the sample is removed in a manner that does not contaminate the collection tools. Biobarrier (e.g., aluminum foil) covering the moving parts of these devices may be used as the only self removing bio-blanket that is required. The samples never leave the collection tools. The lids are placed on these tools inside the collection device. These single use tools with the lid and the sample inside are brought to Earth in the OS. The lids have to be designed impenetrable to the Earth organisms. The latter is a well established art.

Dolgin, B.↗
NASA NTRS2013

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Mars surface operations↗
NASA NTRS2011

Solar Panel Integration as an Alternate Power Source on Centaur 2 (SPIAPS)

The dream of exploration has inspired thousands throughout time. Space exploration, in particular, has taken the past century by storm and caused a great advance in technology. In this project, a retractable solar panel array will be developed for use on the Centaur 2 Rover. Energy generated by the solar panels will go to power the Centaur 2 Robot (C2) or Regolith & Environment Science & Oxygen & Lunar Volatile Extraction (RESOLVE) payload, an in-situ resource utilization project. Such payload is designed to drill into lunar and Martian terrain as well as be able to conduct other geological testing; RESOLVE is slated for testing in 2012. Ultimately, this project will fit into NASA s larger goal of deep space exploration as well as long term presence outside Earth s orbit.

Gebara, Christine A.↗
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 NTRS2022

Simulating Mars: Enabling Testing of the Perseverance Rover Sampling and Caching Subsystem on Earth

The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.

Kim, Junggon↗
NASA NTRSDate not supplied

Biomarkers Detection With the Autonomous and Remotely Operated SOLID-LDChip Instrument in A Mars Drilling Simulating Campaign

One of the main goals in Mars exploration is to determine whether life has ever existed on the red planet. To achieve this goal, it is important to verify the performance, robustness, and maturity of instrumentation devoted to life detection, for example through field-testing in Mars analog environments.The Atacama Desert is considered one of the best terrestrial analogs of the surface of Mars due to abrupt temperature shifts, dryness, high UV radiation, and extremely low biomass. This, together with the lack of vegetation and the geochemistry of the regolith, make it an ideal scenario for testing instrumentation, performance, and concepts of operations. The Atacama Rover Astrobiology Drilling Studies (ARADS) is a NASA PSTAR project conceived for maturing and testing life-detection instrumentation in the Atacama Desert(1). The project is based on the K-REX2 rover equipped with a robotic 1-meter arm that delivers samples toon board instruments. This includes SOLID3.1 (Signs of Life Detector), designed as a life-detection instrument for finding complex organic molecules by means of the LDCHip (Life Detector Chip), an antibody microarray sensor(2). The instrument can extract organic compounds from soil, rocks, and sediments into a liquid solvent in the extraction cell (EC), allowing the search for hundreds of microbial molecular biomarkers at once (3). The robustness and reliability of SOLID were tested in the 2019 ARADS Mars drilling simulating campaign and confirmed with other analytical methods.

M Moreno-Paz↗
NASA NTRS2004

Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

GRASPING↗
NASA NTRS2007

Interface for Physics Simulation Engines

DSS-Prototyper is an open-source, realtime 3D virtual environment software that supports design simulation for the new Vision for Space Exploration (VSE). This is a simulation of NASA's proposed Robotic Lunar Exploration Program, second mission (RLEP2). It simulates the Lunar Surface Access Module (LSAM), which is designed to carry up to four astronauts to the lunar surface for durations of a week or longer. This simulation shows the virtual vehicle making approaches and landings on a variety of lunar terrains. The physics of the descent engine thrust vector, production of dust, and the dynamics of the suspension are all modeled in this set of simulations. The RLEP2 simulations are drivable (by keyboard or joystick) virtual rovers with controls for speed and motor torque, and can be articulated into higher or lower centers of gravity (depending on driving hazards) to enable drill placement. Gravity also can be set to lunar, terrestrial, or zero-g. This software has been used to support NASA's Marshall Space Flight Center in simulations of proposed vehicles for robotically exploring the lunar surface for water ice, and could be used to model all other aspects of the VSE from the Ares launch vehicles and Crew Exploration Vehicle (CEV) to the International Space Station (ISS). This simulator may be installed and operated on any Windows PC with an installed 3D graphics card.

Damer, Bruce↗
NASA NTRS1999

FIDO - Video File

Field Integrated Design and Operations (FIDO) rover is a prototype of the Mars Sample Return rovers that will carry the integrated Athena Science Payload to Mars in 2003 and 2005. The purpose of FIDO is to simulate, using Mars analog settings, the complex surface operations that will be necessary to find, characterize, obtain, cache, and return samples to the ascent vehicles on the landers. This videotape shows tests of the FIDO in the Mojave Desert. These tests include drilling through rock and movement of the rover. Also included in this tape are interviews with Dr Raymond Arvidson, the test director for FIDO, and Dr. Eric Baumgartner, Robotics Engineer at the Jet Propulsion Laboratory.

Source record↗
NASA NTRS2000

Future Mars outpost architecture

This paper describes an outpost designed with the JPL Mars Long Range Planning Team's goals in mind. The design focuses on subsurface mapping and characterization, accomplished through seismic mapping and deep drilling.

outpost robotic Mars↗
NASA NTRS2021

Dynamics associated with the Corer on M2020 Perseverance Rover

This paper will report on the development of the Dynamics specifications for the Corer on Mars 2020. The corer is a critical piece of the M2020 mission, leading into the Mars Sample Return campaign. However, the configuration of the rover places it on the turret of the Robotic Arm assembly, and near to several science sensors (PIXL, SHERLOC) which are also mounted to the Turret. This paper will provide some similarities and differences to the MSL drill. Details in the development, evolution, and verification of the Dynamics specifications will be described in detail, including the hardware which had to meet these challenging specifications. In addition, the special testing venues used throughout the development & verification of M2020 (EDU corer, EM actuators, HALT testing [simulation of coring dynamics], and QMDT) will be described.

Chrystal, Kyle↗
NASA NTRS2013

Test and Validation of the Mars Science Laboratory Robotic Arm

The Mars Science Laboratory Robotic Arm (RA) is a key component for achieving the primary scientific goals of the mission. The RA supports sample acquisition by precisely positioning a scoop above loose regolith or accurately preloading a percussive drill on Martian rocks or rover-mounted organic check materials. It assists sample processing by orienting a sample processing unit called CHIMRA through a series of gravity-relative orientations and sample delivery by positioning the sample portion door above an instrument inlet or the observation tray. In addition the RA facilitates contact science by accurately positioning the dust removal tool, Alpha Particle X-Ray Spectrometer (APXS) and the Mars Hand Lens Imager (MAHLI) relative to surface targets. In order to fulfill these seemingly disparate science objectives the RA must satisfy a variety of accuracy and performance requirements. This paper describes the necessary arm requirement specification and the test campaign to demonstrate these requirements were satisfied.

manipulation↗
NASA NTRS1987

Optical Welding Torch

Gas/tungsten-arc welding torch supports electrode at center while enabling viewing of weld area along torch axis. Gas torch accommodates lens and optical fibers, all part of vision system for welding robot. Welding torch includes spoked structure in central bore of optical body. Structure supports welding electrode, carries electric current to it, and takes heat away from it. Spokes formed by drilling six holes 60 degrees apart around center line of torch.

Richardson, R. W.↗
NASA NTRS2012

Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem

A report describes the PLuto (programmable logic) Mars Technology Rover, a mid-sized FIDO (field integrated design and operations) class rover with six fully drivable and steerable cleated wheels, a rocker-bogey suspension, a pan-tilt mast with panorama and navigation stereo camera pairs, forward and rear stereo hazcam pairs, internal avionics with motor drivers and CPU, and a 5-degrees-of-freedom robotic arm. The technology rover was integrated with an arm-mounted percussive coring tool, microimager, and sample handling encapsulation containerization subsystem (SHEC). The turret of the arm contains a percussive coring drill and microimager. The SHEC sample caching system mounted to the rover body contains coring bits, sample tubes, and sample plugs. The coring activities performed in the field provide valuable data on drilling conditions for NASA tasks developing and studying coring technology. Caching of samples using the SHEC system provide insight to NASA tasks investigating techniques to store core samples in the future.

Younse, Paulo J.↗