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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 NTRS1992

Bilevel shared control for teleoperators

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space.

Hayati, Samad A.↗

NASA NTRS1988

Distributed cooperating processes in a mobile robot control system

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Skillman, Thomas L., Jr.↗

NASA NTRS1989

The NASA/OAST telerobot testbed architecture

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.

Matijevic, J. R.↗

NASA NTRS1987

Communication and control in an integrated manufacturing system

Typically, components in a manufacturing system are all centrally controlled. Due to possible communication bottlenecking, unreliability, and inflexibility caused by using a centralized controller, a new concept of system integration called an Integrated Multi-Robot System (IMRS) was developed. The IMRS can be viewed as a distributed real time system. Some of the current research issues being examined to extend the framework of the IMRS to meet its performance goals are presented. These issues include the use of communication coprocessors to enhance performance, the distribution of tasks and the methods of providing fault tolerance in the IMRS. An application example of real time collision detection, as it relates to the IMRS concept, is also presented and discussed.

Shin, Kang G.↗

NASA NTRS1988

An automated protein crystal growth facility on the space station

The need is addressed for an automated Protein Crystal Growth experiment on the Space Station and how robotics will be integrated into the system design. This automated laboratory system will enable several hundred protein crystals to grow simultaneously in microgravity and will allow the major variables in protein crystal growth to be monitored and controlled during the experiment. Growing good quality crystals is important in determining the complete structure of the protein by X-ray diffraction. This information is useful in the research and development of medicines and other important medical and biotechnological products. Previous Protein Crystal Growth experiments indicate that the microgravity environment of space allows larger crystals of higher quality to be grown as compared to the same crystals grown on the ground. It is therefore important to have a laboratory in space where protein crystals can be grown under carefully controlled conditions so that a crystal type can be reproduced as needed.

Herrmann, Melody↗

NASA NTRS1988

Machine intelligence and autonomy for aerospace systems

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

Heer, Ewald↗

NASA NTRS1991

Collision avoidance sensor skin

The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

Source record↗

NASA NTRS1994

Perception for mobile robot navigation: A survey of the state of the art

In order for mobile robots to navigate safely in unmapped and dynamic environments they must perceive their environment and decide on actions based on those perceptions. There are many different sensing modalities that can be used for mobile robot perception; the two most popular are ultrasonic sonar sensors and vision sensors. This paper examines the state-of-the-art in sensory-based mobile robot navigation. The first issue in mobile robot navigation is safety. This paper summarizes several competing sonar-based obstacle avoidance techniques and compares them. Another issue in mobile robot navigation is determining the robot's position and orientation (sometimes called the robot's pose) in the environment. This paper examines several different classes of vision-based approaches to pose determination. One class of approaches uses detailed, a prior models of the robot's environment. Another class of approaches triangulates using fixed, artificial landmarks. A third class of approaches builds maps using natural landmarks. Example implementations from each of these three classes are described and compared. Finally, the paper presents a completely implemented mobile robot system that integrates sonar-based obstacle avoidance with vision-based pose determination to perform a simple task.

Kortenkamp, David↗

NASA NTRS2004

Advanced EVA Capabilities: A Study for NASA's Revolutionary Aerospace Systems Concept Program

This report documents the results of a study carried out as part of NASA s Revolutionary Aerospace Systems Concepts Program examining the future technology needs of extravehicular activities (EVAs). The intent of this study is to produce a comprehensive report that identifies various design concepts for human-related advanced EVA systems necessary to achieve the goals of supporting future space exploration and development customers in free space and on planetary surfaces for space missions in the post-2020 timeframe. The design concepts studied and evaluated are not limited to anthropomorphic space suits, but include a wide range of human-enhancing EVA technologies as well as consideration of coordination and integration with advanced robotics. The goal of the study effort is to establish a baseline technology "road map" that identifies and describes an investment and technical development strategy, including recommendations that will lead to future enhanced synergistic human/robot EVA operations. The eventual use of this study effort is to focus evolving performance capabilities of various EVA system elements toward the goal of providing high performance human operational capabilities for a multitude of future space applications and destinations. The data collected for this study indicate a rich and diverse history of systems that have been developed to perform a variety of EVA tasks, indicating what is possible. However, the data gathered for this study also indicate a paucity of new concepts and technologies for advanced EVA missions - at least any that researchers are willing to discuss in this type of forum.

Hoffman, Stephen J.↗

NASA NTRS2011

NASA Tech Briefs, February 2011

Topics covered include: Multi-Segment Radius Measurement Using an Absolute Distance Meter Through a Null Assembly; Fiber-Optic Magnetic-Field-Strength Measurement System for Lightning Detection; Photocatalytic Active Radiation Measurements and Use; Computer Generated Hologram System for Wavefront Measurement System Calibration; Non-Contact Thermal Properties Measurement with Low-Power Laser and IR Camera System; SpaceCube 2.0: An Advanced Hybrid Onboard Data Processor; CMOS Imager Has Better Cross-Talk and Full-Well Performance; High-Performance Wireless Telemetry; Telemetry-Based Ranging; JWST Wavefront Control Toolbox; Java Image I/O for VICAR, PDS, and ISIS; X-Band Acquisition Aid Software; Antimicrobial-Coated Granules for Disinfecting Water; Range 7 Scanner Integration with PaR Robot Scanning System; Methods of Antimicrobial Coating of Diverse Materials; High-Operating-Temperature Barrier Infrared Detector with Tailorable Cutoff Wavelength; A Model of Reduced Kinetics for Alkane Oxidation Using Constituents and Species for N-Heptane; Thermally Conductive Tape Based on Carbon Nanotube Arrays; Two Catalysts for Selective Oxidation of Contaminant Gases; Nanoscale Metal Oxide Semiconductors for Gas Sensing; Lightweight, Ultra-High-Temperature, CMC-Lined Carbon/Carbon Structures; Sample Acquisition and Handling System from a Remote Platform; Improved Rare-Earth Emitter Hollow Cathode; High-Temperature Smart Structures for Engine Noise Reduction and Performance Enhancement; Cryogenic Scan Mechanism for Fourier Transform Spectrometer; Piezoelectric Rotary Tube Motor; Thermoelectric Energy Conversion Technology for High-Altitude Airships; Combustor Computations for CO2-Neutral Aviation; Use of Dynamic Distortion to Predict and Alleviate Loss of Control; Cycle Time Reduction in Trapped Mercury Ion Atomic Frequency Standards; and A (201)Hg+ Comagnetometer for (199)Hg+ Trapped Ion Space Atomic Clocks.

Source record↗

NASA NTRS2022

How to Build a Rover: An Overview of the Mars 2020 Mission’s Vehicle System Testbed

While NASA’s Mars rover Perseverance continues to make groundbreaking achievements on the Red Planet, its twin is hard at work here on Earth. The Operational Perseverance Twin for the Integration of Mechanisms and Instruments Sent to Mars, or OPTIMISM, is the Mars 2020 Vehicle System Testbed (VSTB) rover operated by NASA Jet Propulsion Laboratory (JPL) in Pasadena, California. OPTIMISM’s home is the JPL Mars Yard; an outdoor field with red soil that simulates the terrain encountered by Perseverance. The VSTB is a full-scale engineering model of the flight rover, serving a number of functions to ensure mission operations can continue smoothly and on schedule. The VSTB possesses instrumentation, computers, mechanisms, cameras, and a Mobility subsystem that are nearly identical to its extraterrestrial twin. Its high fidelity allows the rover to be a highly effective tool to fully test system functionality and performance prior to commanding the flight rover. The early stages of building OPTIMISM began a few months prior to Perseverance departing JPL for Cape Canaveral, FL in early 2020. Electrical integration of the flight system avionics, and compatibility checkouts of the electrical ground support equipment ensured that the foundation of the electrical system was operational and in place. Next, the internal harnessing was installed and compatibility checks of the rover instrumentation and mechanisms were performed to confirm the system was prepared for full buildup. Finally, mechanical assembly of the rover chassis with its external components completed the integration of the system before it was moved to the Mars Yard for its initial phase of testing to perform verification & validation (V&V) of the Mobility subsystem requirements. By the time Perseverance landed at Jezero Crater in February 2021, the first phase of VSTB operations was underway. Surface guidance, navigation, and control (SGNC) testing for the Mobility subsystem ensured functionality and performance requirements were met for various capabilities such as visual odometry (VO), mapping, and automatic navigation (AutoNav). Subsequent integration of the robotic arm (RA) onto the VSTB enabled the V&V campaign for surface sampling operations (SSO) to commence. As the mission’s engineering operations (EO) have gotten underway, the VSTB has been utilized for an array of purposes including troubleshooting software anomalies, and performing dry-runs for first time activities (FTAs) prior to sending the commands to Perseverance. OPTIMISM will continue to serve mission critical functions as long as Perseverance is roving the Red Planet.

Rojas, Jose Trujillo↗

NASA NTRSDate not supplied

Lunar Science and Mission Systems Integration for Real-Time Long Duration Remote Robot Surface Operations

Conducting lunar science with a robot on the Moon that is commanded in real-time from Earth by distributed workgroups for long durations is a specific activity that has been developed by many projects including NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) mission. VIPER’s nominal mission period for surface operations was set for 100 Earth days (four lunar days). VIPER’s science knowledge acquisition was set to focus on characterizing the distribution of water and volatiles across a range of thermal environments, within a traverse planned to optimize science return across up to 20 km. While VIPER’s status is the subject of discussion, there is research and analysis from the development and simulations phases that are of benefit to the lunar science community and future remote science operations projects. Discussed here are some findings on the process of integrating lunar science with mission system operations.

VIPER↗

NASA NTRS1994

Mobile robot exploration and navigation of indoor spaces using sonar and vision

Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.

Kortenkamp, David↗

NASA NTRS2022

Cockpit Interface for Locomotion and Manipulation Control of the NASA Valkyrie Humanoid in Virtual Reality (VR)

A virtual reality (VR) interface is presented for controlling NASA’s Valkyrie humanoid robot with flexible locomotion control options and intuitive teleoperation. Locomotion modes include navigating to a specified waypoint, sending desired velocities with a joystick, or manually placing a sequence of footsteps. On the other hand, teleoperation modes include voice commands to toggle relative whole-body tracking or high-level commandeering, and key bindings for common stored poses such as power grasps. The primary novelties of the interface are in the implementation of the cockpit mode and a floating augmented reality (AR) screen fixed with respect to the robot. The former enables embodied teleoperation and increased awareness during navigation in a mixed-reality setting. The latter preserves depth perception without the disparity clutter from a stereo point cloud. The interface is demonstrated on two real humanoids performing common explosive ordnance disposal (EOD) tasks such as door opening, vehicle inspection, and disruptor placement. Notably, the interface enables a single operator to control multiple humanoids. While the interface is motivated by EOD missions, the presented ideas are usable for other robots employing VR-based control.

Virtual-reality↗

NASA NTRS1993

Integration of advanced teleoperation technologies for control of space robots

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Stagnaro, Michael J.↗

NASA NTRSDate not supplied

Developing A Dependable Multi-Agent Rover Swarm Using cFS

The future of space exploration lies in cooperative autonomous systems. Ensuring their high integrity remains a challenge. The Robust Software Engineering group at NASA Ames Research Center has been developing the Troupe project to explore the challenges with developing and assuring high integrity of cooperative autonomous robotic systems. In particular, Troupe aims to develop a swarm of autonomous rovers capable of mapping unknown terrain and assure their high integrity using the advanced V&V tools developed in the group. In this paper, we present the evolution of the design of Troupe. We focus on the lessons learned in developing and assuring the rover swarm using core Flight System (cFS). In particular, we discuss the benefits and challenges in applying model-based development to develop the rover swarm.

space systems↗

NASA NTRSDate not supplied

Developing A Dependable Multi-Agent Rover Swarm Using cFS

space systems↗

NASA NTRS1988

Integration of task level planning and diagnosis for an intelligent robot

The use of robots in the future must go beyond present applications and will depend on the ability of a robot to adapt to a changing environment and to deal with unexpected scenarios (i.e., picking up parts that are not exactly where they were expected to be). The objective of this research is to demonstrate the feasibility of incorporating high level planning into a robot enabling it to deal with anomalous situations in order to minimize the need for constant human instruction. The heuristics can be used by a robot to apply information about previous actions towards accomplishing future objectives more efficiently. The system uses a decision network that represents the plan for accomplishing a task. This enables the robot to modify its plan based on results of previous actions. The system serves as a method for minimizing the need for constant human instruction in telerobotics. This paper describes the integration of expert systems and simulation as a valuable tool that goes far beyond this project. Simulation can be expected to be used increasingly as both hardware and software improve. Similarly, the ability to merge an expert system with simulation means that we can add intelligence to the system. A malfunctioning space satellite is described. The expert system uses a series of heuristics in order to guide the robot to the proper location. This is part of task level planning. The final part of the paper suggests directions for future research. Having shown the feasibility of an expert system embedded in a simulation, the paper then discusses how the system can be integrated with the MSFC graphics system.

Gerstenfeld, Arthur↗