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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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NASA NTRS2021

Chapter 7: Active patterning and structure formation—self-limiting assembly, actuation, and integration

At the suggestion of NASA’s Physical Science Research Program in the Space Life and Physical Science Research and Application Division, Paul Chaikin, Noel Clark, and Sidney Nagel organized a focus session and workshop for the 2020 American Physical Society (APS) March meeting under the auspices of the Division of Soft Matter. Three overarching themes emerged from the workshop and are presented with additional details: • Machines made out of machines • Scalable self-sustaining ecosystems • Active materials and metamaterials This report lays out only some of the potential directions for soft matter dynamics over the next two decades. It also lays out the role that gravity plays in the organization of the basic building blocks of matter. Not only will research on soft matter have tremendous application towards understanding its behavior in our terrestrial environment, but also potentially in other NASA programs such as planetary science, exploration, robotics, etc. Attached is a White Paper for the Decadal Survey that consists of an extended Title along with the previous Introduction and Chapter 2.7 from NASA/CP-20205010493.

Soft matter↗
NASA NTRS2021

Chapter 8: Fluids: liquid crystals—self-assembly of the superlarge and superweak active clothing

At the suggestion of NASA’s Physical Science Research Program in the Space Life and Physical Science Research and Application Division, Paul Chaikin, Noel Clark, and Sidney Nagel organized a focus session and workshop for the 2020 American Physical Society (APS) March meeting under the auspices of the Division of Soft Matter. Three overarching themes emerged from the workshop and are presented with additional details: • Machines made out of machines • Scalable self-sustaining ecosystems • Active materials and metamaterials This report lays out only some of the potential directions for soft matter dynamics over the next two decades. It also lays out the role that gravity plays in the organization of the basic building blocks of matter. Not only will research on soft matter have tremendous application towards understanding its behavior in our terrestrial environment, but also potentially in other NASA programs such as planetary science, exploration, robotics, etc. The attached is a White Paper for the Decadal Survey that consists of an extended Title along with the previous Introduction and Chapter 2.8 from NASA/CP-20205010493.

Soft matter↗
NASA NTRS2012

Technologies Enabling Exploration of Skylights, Lava Tubes and Caves

Robotic exploration of skylights and caves can seek out life, investigate geology and origins, and open the subsurface of other worlds to humankind. However, exploration of these features is a daunting venture. Planetary voids present perilous terrain that requires innovative technologies for access, exploration, and modeling. This research developed technologies for venturing underground and conceived mission architectures for robotic expeditions that explore skylights, lava tubes and caves. The investigation identified effective designs for mobile robot architecture to explore sub-planetary features. Results provide insight into mission architectures, skylight reconnaissance and modeling, robot configuration and operations, and subsurface sensing and modeling. These are developed as key enablers for robotic missions to explore planetary caves. These results are compiled to generate "Spelunker", a prototype mission concept to explore a lunar skylight and cave. The Spelunker mission specifies safe landing on the rim of a skylight, tethered descent of a power and communications hub, and autonomous cave exploration by hybrid driving/hopping robots. A technology roadmap was generated identifying the maturation path for enabling technologies for this and similar missions.

Robot↗
NASA NTRS1996

Planetary Aerobots: A Program for Robotic Balloon Exploration

The exploration of the solar system has proceeded in several phases beginning with flyby missions, proceeding to orbiters, then to probes and landers and finally mobile vehicles that operate on the surface and in its atmosphere. For the most accessible planetary bodies, Venus and Mars, we are now entering the phase of mobile exploration of the surface and atmosphere.

robotically-controlled↗
NASA NTRS2013

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

service oriented architecture↗
NASA NTRS1994

NASA Telerobotics Technology Highlights

The goal of the NASA Telerobotics Program, part of the overall research program of the Office of Advanced Concepts and Technology, is to develop the technology in space-borne systems which enables new space tasks in Eath-orbiting satellite and platform servicing; robotic tending of science payloads and instruments; and planetary surface exploration, scientific sampling, and in-situ analysis. Our objective is that by 2004, 50 percent of the EVA-required operations on orbit and on planetary surfaces may be conducted via remote operation.

robotics exploration robotics↗
NASA NTRS2006

Mobile Robot for Exploring Cold Liquid/Solid Environments

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Bergh, Charles↗
NASA NTRS2001

Reconfigurable robots for all terrain exploration

While significant recent progress has been made in development of mobile robots for planetary suface exploration,there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use.

mobile robots multi-robot cooperation robotic arch↗
NASA NTRS2014

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

Exploration↗
NASA NTRS2004

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Colombano, Silvano↗
NASA NTRS1997

Virtual Presence: One Step Beyond Reality

Our primary objective was to team up a group consisting of scientists and engineers from two different NASA cultures, and simulate an interactive teleoperated robot conducting geologic field work on the Moon or Mars. The information derived from the experiment will benefit both the robotics team and the planetary exploration team in the areas of robot design and development, and mission planning and analysis. The Earth Sciences and Space and Life Sciences Division combines the past with the future contributing experience from Apollo crews exploring the lunar surface, knowledge of reduced gravity environments, the performance limits of EVA suits, and future goals for human exploration beyond low Earth orbit. The Automation, Robotics. and Simulation Division brings to the table the technical expertise of robotic systems, the future goals of highly interactive robotic capabilities, treading on the edge of technology by joining for the first time a unique combination of telepresence with virtual reality.

Budden, Nancy Ann↗
NASA NTRS2020

A Visual Analytics Approach to Debugging Cooperative, Autonomous Multi-Robot Systems’ Worldviews

Autonomous multi-robot systems, where a team of robots shares information to perform tasks that are beyond an individual robot’s abilities, hold great promise for a number of applications, such as planetary exploration missions. Each robot in a multi- robot system autonomously schedules which robots should perform a given task and when, using its worldview–the robot’s internal representation of its belief about the environment and other robots’ states. A key problem for operators is that robots’ worldviews can fall out of sync (often due to weak communication links), leading to desynchronization of the robots’ scheduling decisions and inconsistent emergent behavior (e.g., tasks not performed, or performed by multiple robots). Operators face the time-consuming and difficult task of making sense of the robots’ scheduling decisions, detecting de-synchronizations, and pinpointing their cause by comparing every robot’s worldview. To address these challenges, we introduce MOSAIC Viewer, a visual analytics system that helps operators (i) make sense of the robots’ schedules and (ii) detect and conduct a root cause analysis of the robots’ desynchronized worldviews. Over a year-long partnership with roboticists at the NASA Jet Propulsion Laboratory, a formative study was performed to identify the necessary system design requirements, which supports the design of the system. A qualitative study with 12 roboticists reveals that MOSAIC Viewer is faster- and easier-to-use than the users’ current approaches, and it allows them to stitch low-level details to formulate a high-level understanding of the robots’ schedules and detect and pin-point the cause of desynchronized worldviews.

Ma, Kwan-Liu↗
NASA NTRS2002

Boudreaux the Robot (a.k.a. EVA Robotic Assistant)

The EVA Robotic Assistant is a prototype for an autonomous rover designed to assist human astronauts. The primary focus of the research is to explore the interaction between humans and robots, particularly in extreme environments, and to develop a software infrastructure that could be applied to any type of assistant robot, whether for planetary exploration or orbital missions. This paper describes the background and current status of the project, the types of scenarios addressed in field demonstrations, the hardware and software that comprise the current prototype, and future research plans.

Shillcutt, Kimberly↗
NASA NTRS2016

Planetary Exploration Reinvented

During the past 50 years, we have learned to explore and work in space. Much of what we know about the Solar System we owe to observations and sampling made by robotic spacecraft, landers, planetary rovers, and astronauts. As we look to the future, however, there is ample opportunity to reinvent planetary exploration: to develop new techniques and systems that will enhance and enable discovery.In this talk, I will describe how the NASA Ames Intelligent Robotics Group (IRG) is working to reinvent planetary exploration. First, I will present IRG's development of robots for human exploration. These robots are designed to perform work before, in parallel, and after human activity. Next, I will show how IRG is building automated planetary mapping systems to process the enormous amount of data that NASA collects from orbit. Finally, I will discuss how IRG is changing the way ground control software is created, particularly for supporting science operations.

robotics↗
NASA NTRS2002

Bioinspired engineering of exploration systems for NASA and DoD

A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.

Space Flight↗
NASA NTRSDate not supplied

Scientific Physical and Operations Characterization (SPOC): Studying Scientists in the Wild to Inform Human Planetary Exploration Operations

The objective of the Scientific Physical and Operational Characterization (SPOC) project is to build an evidence-based description of terrestrial field science to inform the operational, physical, and tool requirements for planetary exploration extravehicular activities (xEVAs). EVAs of the future, including Artemis 2024 and beyond, intend to promote scientific productivity (e.g., LEAG science goals)[1]; however, no clear, objective pathway currently exists to enable this goal, particularly with respect to the desired increase in autonomy imparted to future astronauts. The SPOC project applies expertise in the fields of cognitive systems engineering [2-5], biomechanics, wearable sensors [6-8] and hardware/software to more targetly address these issues. In doing so, a terrestrial fieldwork ground-truth can be established that will benefit human and robotic exploration of other planetary surfaces.

M J Miller↗