Results for “Robotics Operations” — Page 7

NASA NTRS1988

Microgravity robotics technology program

A research program to develop technology for robots operating in the microgravity environment of the space station laboratory is described. These robots must be capable of manipulating payloads without causing them to experience harmful levels of acceleration, and the motion of these robots must not disturb adjacent experiments and operations by transmitting reactions that translate into damaging effects throughout the laboratory. Solutions to these problems, based on both mechanism technology and control strategies, are discussed. Methods are presented for reduction of robot base reactions through the use of redundant degrees of freedom, and the development of smoothly operating roller-driven robot joints for microgravity manipulators is discussed.

Rohn, Douglas A.↗

NASA NTRS1996

Hazardous Environment Robotics

Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

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NASA NTRS2022

SpaceX-26 Animation - Operations from MAGIK AI-4177: SpX-26 (Launch-6)

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-26 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-26 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the ISS Roll Out Solar Array (IROSA) mounted to an ISS Power Augmentation (IPA) Carrier. Robotic operations shown include the Space Station Remote Manipulator System (SSRMS) Trunk extraction of the IPA Carrier and maneuvering to the install position on the Payload ORU (Orbital Replacement Unit) Accommodation (POA). There is no disposal payload for this flight.

ISS↗

NASA NTRS1990

Reaction-compensation technology for microgravity laboratory robots

Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.

Rohn, Douglas A.↗

NASA NTRS1990

Reaction-compensation technology for microgravity laboratory robots

Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.

Rohn, Douglas A.↗

NASA NTRS1994

Weld-Fill Program

ROCKFILL is software that calculates key robot weld information. Its easy-to-use menu system enables robot operator to estimate better number of passes, amount of wire, arc time, and amount of heat put into particular weld. Designed to operate on work-cell personal computer of robot and requires no documentation or training. Written in C language.

Maslakowski, John E.↗

NASA NTRS2003

STS-112 Mission Highlights Resource, Part 3 of 3

The STS-112 Mission begins with a view of the center radiator on the S(1) Truss. A good view of the International Space Station's (ISS) Destiny Laboratory, Soyuz Crew Return Vehicle and Quest Airlock are shown from a video camera located at the end of the S(1) Truss Segment. The ISS Canadarm 2 is shown getting in position for spacewalk three. Highlights of flight day eight begin with Pilot Pam Melroy and Mission Specialist Fyodur Yurchikhin shown inside of the Quest Airlock closing the hatch as spacewalkers David Wolf and Piers Sellers move in the outer compartment of the Airlock to begin Extravehicular Activity 3 (EVA 3). During EVA 3, Dave Wolf and Piers Sellers are installing spool positioning devices on ammonia lines located on the ISS. Robot Arm Operators Peggy Whitson and Sandy Magnus are shown reviewing procedures for operating the robot arm. A view of Piers Seller climbing back into the Quest Airlock is presented. During flight day nine, robot arm operators Pam Melroy, Jeff Ashby and Peggy Whitson are in the process of removing spacesuits worn by David Wolf and Piers Sellers. A final farewell of the nine crewmembers shown inside of the Destiny Laboratory is presented during flight day ten. The undocking of Space Shuttle Atlantis from the International Space Station is shown on flight day eleven. This presentation ends on flight day 12 with a view of head up displays and the actual landing of the Space Shuttle Atlantis.

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NASA NTRS2009

Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The project draws on expertise from several NASA and non-NASA organizations (MSFC, ARC, GSFC, JPL, CRREL and USGS). LMMP will utilize data predominately from the Lunar Reconnaissance Orbiter, but also historical and international lunar mission data (e.g. Apollo, Lunar Orbiter, Kaguya, Chandrayaan-1), as available and appropriate, to meet Constellation s data needs. LMMP will provide access to this data through a single, common, intuitive and easy to use NASA portal that transparently accesses appropriately sanctioned portions of the widely dispersed and distributed collections of lunar data, products and tools. LMMP will provide such products as DEMs, hazard assessment maps, lighting maps and models, gravity models, and resource maps. We are working closely with the LRO team to prevent duplication of efforts and ensure the highest quality data products. While Constellation is our primary customer, LMMP is striving to be as useful as possible to the lunar science community, the lunar education and public outreach (E/PO) community, and anyone else interested in accessing or utilizing lunar data.

Noble, Sarah K.↗

NASA NTRS2009

The Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses.

Noble, Sarah K.↗

NASA NTRS2009

Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses. The project draws on expertise from several NASA and non-NASA organizations (MSFC, ARC, GSFC, JPL, CRREL US Army Cold Regions Research and Engineering Laboratory, and the USGS). LMMP will utilize data predominately from the Lunar Reconnaissance Orbiter, but also historical and international lunar mission data (e.g. Apollo, Lunar Orbiter, Kaguya, Chandrayaan-1), as available and appropriate, to meet Constellation s data needs. LMMP will provide access to this data through a single intuitive and easy to use NASA portal that transparently accesses appropriately sanctioned portions of the widely dispersed and distributed collections of lunar data, products and tools. Two visualization systems are being developed, a web-based system called Lunar Mapper, and a desktop client, ILIADS, which will be downloadable from the LMMP portal. LMMP will provide such products as local and regional imagery and DEMs, hazard assessment maps, lighting and gravity models, and resource maps. We are working closely with the LRO team to prevent duplication of efforts and to ensure the highest quality data products. While Constellation is our primary customer, LMMP is striving to be as useful as possible to the lunar science community, the lunar commercial community, the lunar education and public outreach (E/PO) community, and anyone else interested in accessing or utilizing lunar data. A beta version of the portal and visualization systems is expected to be released in late 2009, with a version 1 release planned for early 2011.

Noble, Sarah K.↗

NASA NTRS2000

Computational Robot Dynamics Using Spatial Operators

This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interpretation, while avoiding lengthly matematical derivations.

dynamics↗

NASA NTRS2006

Optimized Algorithms for Prediction within Robotic Tele-Operative Interfaces

Robonaut, the humanoid robot developed at the Dexterous Robotics Laboratory at NASA Johnson Space Center serves as a testbed for human-robot collaboration research and development efforts. One of the primary efforts investigates how adjustable autonomy can provide for a safe and more effective completion of manipulation-based tasks. A predictive algorithm developed in previous work was deployed as part of a software interface that can be used for long-distance tele-operation. In this paper we provide the details of this algorithm, how to improve upon the methods via optimization, and also present viable alternatives to the original algorithmic approach. We show that all of the algorithms presented can be optimized to meet the specifications of the metrics shown as being useful for measuring the performance of the predictive methods. Judicious feature selection also plays a significant role in the conclusions drawn.

Martin, Rodney A.↗

NASA NTRS2010

Optimized Algorithms for Prediction Within Robotic Tele-Operative Interfaces

Robonaut, the humanoid robot developed at the Dexterous Robotics Labo ratory at NASA Johnson Space Center serves as a testbed for human-rob ot collaboration research and development efforts. One of the recent efforts investigates how adjustable autonomy can provide for a safe a nd more effective completion of manipulation-based tasks. A predictiv e algorithm developed in previous work was deployed as part of a soft ware interface that can be used for long-distance tele-operation. In this work, Hidden Markov Models (HMM?s) were trained on data recorded during tele-operation of basic tasks. In this paper we provide the d etails of this algorithm, how to improve upon the methods via optimization, and also present viable alternatives to the original algorithmi c approach. We show that all of the algorithms presented can be optim ized to meet the specifications of the metrics shown as being useful for measuring the performance of the predictive methods. 1

Martin, Rodney A.↗

NASA NTRS1994

Shear-Wave Ultrasonic Inspection With A Dry Couplant

Automated ultrasonic inspection system includes dry couplant pad attached to ultrasonic transducer. Designed to be mounted on robot arm in automated manufacturing (robotic welding) work cell. Between, during, or after manufacturing operations, robot scans ultrasonic transducer along workpiece. Workpiece reworked in place, if necessary. In principle, computer program controlling inspection overlaid on program controlling welding operations.

Willenberg, James D↗

NASA NTRS1990

Robotic lunar surface operations: Engineering analysis for the design, emplacement, checkout and performance of robotic lunar surface systems

The assembly, emplacement, checkout, operation, and maintenance of equipment on planetary surfaces are all part of expanding human presence out into the solar system. A single point design, a reference scenario, is presented for lunar base operations. An initial base, barely more than an output, which starts from nothing but then quickly grows to sustain people and produce rocket propellant. The study blended three efforts: conceptual design of all required surface systems; assessments of contemporary developments in robotics; and quantitative analyses of machine and human tasks, delivery and work schedules, and equipment reliability. What emerged was a new, integrated understanding of hot to make a lunar base happen. The overall goal of the concept developed was to maximize return, while minimizing cost and risk. The base concept uses solar power. Its primary industry is the production of liquid oxygen for propellant, which it extracts from native lunar regolith. Production supports four lander flights per year, and shuts down during the lunar nighttime while maintenance is performed.

Woodcock, Gordon R.↗

NASA NTRS1994

Robotics technology developments in the United States space telerobotics program

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

Lavery, David↗

NASA NTRS1991

A space servicing telerobotics technology demonstration

Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.

Kan, Edwin P.↗

NASA NTRS2009

A Practical Comparison of Motion Planning Techniques for Robotic Legs in Environments with Obstacles

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.

Smith, Tristan B.↗