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At least 145 records · Page 8

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NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software (ARMS)

Collin J Cresta↗

NASA NTRS2005

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

autonomous construction↗

NASA NTRS2011

International Space Station Research for the Next Decade: International Coordination and Research Accomplishments

During 2011, the International Space Station reached an important milestone in the completion of assembly and the shift to the focus on a full and continuous utilization mission in space. The ISS partnership itself has also met a milestone in the coordination and cooperation of utilization activities including research, technology development and education. We plan and track all ISS utilization activities jointly and have structures in place to cooperate on common goals by sharing ISS assets and resources, and extend the impacts and efficiency of utilization activities. The basic utilization areas on the ISS include research, technology development and testing, and education/outreach. Research can be categorized as applied research for future exploration, basic research taking advantage of the microgravity and open space environment, and Industrial R&D / commercial research focused at industrial product development and improvement. Technology development activities range from testing of new spacecraft systems and materials to the use of ISS as an analogue for future exploration missions to destinations beyond Earth orbit. This presentation, made jointly by all ISS international partners, will highlight the ways that international cooperation in all of these areas is achieved, and the overall accomplishments that have come as well as future perspectives from the cooperation. Recently, the partnership has made special efforts to increase the coordination and impact of ISS utilization that has humanitarian benefits. In this context the paper will highlight tentative ISS utilization developments in the areas of Earth remote sensing, medical technology transfer, and education/outreach.

Thumm, Tracy L.↗

DOE OSTI2023

Pathway complexity in fibre assembly: from liquid crystals to hyper-helical gelmorphs

Pathway complexity results in unique materials from the same components according to the assembly conditions. Here a chiral acyl-semicarbazide gelator forms three different gels of contrasting fibre morphology (termed ‘gelmorphs’) as well as lyotropic liquid crystalline droplets depending on the assembly pathway. The gels have morphologies that are either hyperhelical (HH-Gel), tape-fibre (TF-Gel) or thin fibril derived from the liquid crystalline phase (LC-Gels) and exhibit very different rheological properties. The gelator exists as three slowly interconverting conformers in solution. All three gels are comprised of an unsymmetrical, intramolecular hydrogen bonded conformer. The kinetics show that formation of the remarkable HH-Gel is cooperative and is postulated to involve association of the growing fibril with a non-gelling conformer. This single molecule dynamic conformational library shows how very different materials with different morphology and hence very contrasting materials properties can arise from pathway complexity as a result of emergent interactions during the assembly process.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2021

Collaboration on SBIR/TTO Phase II Project for Optical QC Device and Collaboration on SBIR/TTO Phase II-b Project for Advanced Quality Inspection Device Development: Cooperative Research and Development CRADA Number CRD-16-00652 (Final Report)

The overall goal of this program is to develop and commercialize a turnkey quality control solution for the entire PEM fuel cell manufacturing process including membrane, gas diffusion layers, catalyst, and assembled systems. This quality control solution is unique to each customer’s specific needs but includes a suite of in-line quality control systems for roll-to-roll manufacturing that can target thin, transparent membrane as well as opaque membrane, catalyst, and GDLs. The Phase II developed the CPNUVV system for thin, transparent membrane that operates using polarized filters to enhance defect resolution and determine thickness. However, PEM material manufacturers want a complete, turnkey solution for all components of the PEM fuel cell. In the Phase IIB, Mainstream will partner with NREL, and transition reflectance technology NREL developed (US Patent 9,234,843) to operate in real-time on a web-line to develop a total solution to PEM quality control. The device will identify and mark defects as well as monitor materials thickness in real-time to improve line efficiency and to reduce waste. The research performed at NREL under this CRADA increases the basis of knowledge about optical inspection methods, how they perform with regards to fuel cell component materials, and how they can be implemented in in-line, real-time configurations to provide quality inspection for roll-to-roll (R2R) manufacturing. Methods explored were found to be sensitive to catalyst loading in electrodes on both membrane and gas diffusion media substrates and to membrane thickness, across a broad range of thickness. The latter capability is novel and now patented and provides a previously unstudied and undemonstrated capability for R2R manufacturing of membranes.

30 DIRECT ENERGY CONVERSION↗

NASA NTRSDate not supplied

Assessment of Sensor Data Accuracy within Gazebo/ROS for High-Precision Autonomous In-Space Robotic Operations

Modeling high-precision in-space servicing, assembly, and manufacturing operations in a simulated environment is a critical step in the development of robotic systems that will be used to autonomously assemble large-scale structures in space. Limited facility size and high costs for manufacturing prototypes make it challenging to conduct full-scale operational testing under appropriate environmental conditions; therefore, testing in a modular, high-fidelity simulation environment is necessary for verification and validation of technology and architecture designs prior to launch. Several modeling and simulation environments exist both within NASA and industry that can be used to test robotic system design and operations, including the widely used commercial tool Gazebo integrated with Robotic Operating System software. Because the performance of autonomous robotic systems relies heavily on the quality of sensor input data, this paper focuses on assessing the accuracy of pose data from an optical sensor model in the Gazebo environment against the behavior of real hardware. The results of the tests will help developers using Gazebo for large-scale, high-precision simulation to account for modeling inaccuracies within their robotic control system algorithms.

simulation↗

NASA NTRS1994

A virtual work space for both hands manipulation with coherency between kinesthetic and visual sensation

This paper describes the construction of a virtual work space for tasks performed by two handed manipulation. We intend to provide a virtual environment that encourages users to accomplish tasks as they usually act in a real environment. Our approach uses a three dimensional spatial interface device that allows the user to handle virtual objects by hand and be able to feel some physical properties such as contact, weight, etc. We investigated suitable conditions for constructing our virtual work space by simulating some basic assembly work, a face and fit task. We then selected the conditions under which the subjects felt most comfortable in performing this task and set up our virtual work space. Finally, we verified the possibility of performing more complex tasks in this virtual work space by providing simple virtual models and then let the subjects create new models by assembling these components. The subjects can naturally perform assembly operations and accomplish the task. Our evaluation shows that this virtual work space has the potential to be used for performing tasks that require two-handed manipulation or cooperation between both hands in a natural manner.

Ishii, Masahiro↗

NASA NTRS1997

Pre-Flight Dark Forward Electrical Testing of the Mir Cooperative Solar Array

The Mir Cooperative Solar Array (MCSA) was developed jointly by the United States (US) and Russia to provide approximately 6 kW of photovoltaic power to the Russian space station Mir. After final assembly in Russia, the MCSA was shipped to the NASA Kennedy Space Center (KSC) in the summer of 1995 and launched to Mir in November 1995. Program managers were concerned of the potential for MCSA damage during the transatlantic shipment and the associated handling operations. To address this concern, NASA Lewis Research Center (LERC) developed an innovative dark-forward electrical test program to assess the gross electrical condition of each generator following shipment from Russia. The use of dark test techniques, which allow the array to remain in the stowed configuration, greatly simplifies the checkout of large area solar arrays. MCSA dark electrical testing was successfully performed at KSC in July 1995 following transatlantic shipment. Data from this testing enabled engineers to quantify the effects of potential MCSA physical damage that would degrade on-orbit electrical performance. In this paper, an overview of the principles and heritage of photovoltaic array dark testing is given. The specific MCSA dark test program is also described including the hardware, software, testing procedures and test results. The current-voltage (4) response of both solar cell circuitry and by-pass diode circuitry was obtained. To guide the development of dark test hardware, software and procedures, a dedicated FORTRAN computer code was developed to predict the dark 4 responses of generators with a variety of feasible damage modes. By comparing the actual test data with the predictions, the physical condition of the generator could be inferred. Based on this data analysis, no electrical short-circuits or open-circuits were detected. This suggested the MCSA did not sustain physical damage that affected electrical performance during handling and shipment from Russia to the US. Good agreement between the test data and computational predictions indicated MCSA electrical performance was amenable to accurate analysis and was well understood.

Kerslake, Thomas W.↗

NASA NTRS2020

State of the Profession Considerations: NASA Langley Research Center Capabilities / Technologies for Autonomous In-Space Assembly and Modular Persistent Assets

Successfully implementing OSAM into next generation revolutionary observatories requires integrating expertise and technologies in modular space structures, assembly operations, autonomy, and modeling/simulation. LaRC OSAM technologies/capabilities have been presented to inform the Planetary Science and Astrobiology Decadal Survey community of the robust and mature existing capability to support an OSAM based architecture for their next observatory. LaRC Structures and Assembly capabilities enable; a modular telescope architecture, high-performance structural modules, and robotic assembly techniques. LaRC Autonomy capabilities ensure that the robotic assembly will be accomplished in a safe and robust manner and only require humans in a supervisory role. The LaRC toolbox of Modeling and Simulation capabilities that is calibrated using module-level ground testing, will ensure that the performance of the fully assembled observatory, a very large zero-g system that will never be assembled/tested in a gravity environment, meets all performance requirements when it enters into service. Integrating all three LaRC capabilities and including embedded metrology, will enable servicing, repair, instrument upgrades (and/or replacement) while ensuring a very long lifetime for the observatory and providing a return-on-investment that is substantially greater than the initial cost. Further confidence will be achieved as OSAM technologies are validated in a new LaRC OSAM laboratory that allows large-scale collaborative testing of modular hardware, simulation software and algorithms, and autonomous agents.

Large space structures↗

DOE OSTI2026

Lanthanide Separations through Helicate Self-Assembly

Skyrocketing demand for rare-earth elements makes their isolation and reuse from electronic waste an increasingly attractive alternative to mining. Typically, the capture of individual lanthanides from mixtures requires the iterative design of complex, macrocyclic ligands, a sometimes successful but often laborious process. Here we show that the self-assembly of rare-earth ions with a ditopic ligand, L d , results in the selective incorporation of smaller lanthanides and gives rise to impressive separation factors. Comparison to a monotopic ligand, L m , shows that the separation performance of ditopic L d critically depends on the presence of two adjacent binding sites. Isothermal titration calorimetry (ITC) experiments show that the selectivity of L d for smaller ions is thermodynamically driven and provide evidence of positive cooperativity among the two binding sites of L d . The simplicity of the separation procedure reported here, requiring only 1 min of sonication in methanol, shows the potential applicability of this approach to real-world separations. Here, by achieving efficient rare-earth separations in small, synthetically facile helicates, this work shows the promise of self-assembly as a mechanism to drive metal separations.

Alcohols↗

NASA NTRS2017

340 Ghz Multipixel Transceiver

A multi-pixel terahertz transceiver is constructed using a stack of semiconductor layers that communicate using vias defined within the semiconductor layers. By using a stack of semiconductor layers, the various electrical functions of each layer can be tested easily without having to assemble the entire transceiver. In addition, the design allows the production of a transceiver having pixels set 10 mm apart.

Chattopadhyay, Goutam↗

DOE OSTI2024

Nanocrystal Assemblies: Current Advances and Open Problems

Here we explore the potential of nanocrystals (a term used equivalently to nanoparticles) as building blocks for nanomaterials, and the current advances and open challenges for fundamental science developments and applications. Nanocrystal assemblies are inherently multiscale, and the generation of revolutionary material properties requires a precise understanding of the relationship between structure and function, the former being determined by classical effects and the latter often by quantum effects. With an emphasis on theory and computation, we discuss challenges that hamper current assembly strategies and to what extent nanocrystal assemblies represent thermodynamic equilibrium or kinetically trapped metastable states. We also examine dynamic effects and optimization of assembly protocols. Finally, we discuss promising material functions and examples of their realization with nanocrystal assemblies.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2021

Unexpected inverse correlations and cooperativity in ion-pair phase transfer

Liquid/liquid extraction is one of the most widely used separation and purification methods, where a forefront of research is the study of transport mechanisms for solute partitioning and the relationships that these have to solution structure at the phase boundary. To date, organized surface features that include protrusions, water-fingers, and molecular hinges have been reported. Many of these equilibrium studies have focused upon small-molecule transport – yet the extent to which the complexity of the solute, and the competition between different solutes, influence transport mechanisms have not been explored. Here we report molecular dynamics simulations that demonstrate that a metal salt (LiNO 3 ) can be transported via a protrusion mechanism that is remarkably similar to that reported for H 2 O by tri-butyl phosphate (TBP), a process that involves dimeric assemblies. Yet the LiNO 3 out-competes H 2 O for a bridging position between the extracting TBP dimer, which in-turn changes the preferred transport pathway of H 2 O. Examining the electrolyte concentration dependence on ion-pair transport unexpectedly reveals an inverse correlation with the extracting surfactant concentration. As [LiNO 3 ] increases, surface adsorbed TBP becomes a limiting reactant in correlation with an increased negative surface charge induced by excess interfacial NO 3 – , however the rate of transport is enhanced. Within the highly dynamic interfacial environment, we hypothesize that this unique cooperative effect may be due to perturbed surface organization that either decreases the energy of formation of transporting protrusion motifs or makes it easier for these self-assembled species to disengage from the surface.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRSDate not supplied

Designing a Software Architecture for the Precision Assembly of Space Structures

As NASA’s space exploration and science missions expand in complexity, longevity, anddistance beyond earth’s orbit, Orbital Servicing, Assembly and Manufacturing (OSAM)technologies and concepts have become a critical area of ongoing research and innovation.Artemis’ Moon-to-Mars goals of building sustainable elements on and around the Moon andMars that allow our robots and astronauts to explore and conduct more scientific researchwill demand in situ resource utilization, construction, and maintenance to succeed. In-spaceAssembly (ISA), as a sub-component of OSAM, focuses on the on-orbit building or fabricationof mission infrastructure and payloads. One such ISA application is highlighted by the recentNASA In-Space Assembled Telescope (iSAT) study, which stated that the next generation ofspace observatories will exceed the fairing size of existing or even planned launch vehicles andISA has emerged as a viable approach for observatory assembly. Research efforts at NASALangley Research Center have led to the design of a novel TriTruss structural concept for themodular construction of large complex persistent platforms. The TriTruss design and otherdeveloping OSAM technologies enable larger and persistent space missions that would notbe possible with single-launch-sized structures. For example, 20 meter or larger telescopesor orbital platform applications. However, the increased complexity will require autonomousoperations for the construction and maintenance of long-term infrastructure to achieve missionsuccess. NASA’s Precision Assembly of Space Structures (PASS) project is focused on thestructural and autonomy capabilities required to construct an iSAT in deep space. PASSresearch efforts will develop and validate critical technologies needed for effective efficienton-orbit assembly that can be confidently adopted for future systems. PASS will utilize theTriTruss modules to demonstrate the autonomous modular assembly of a 20m-class iSAT mirrorbackbone structure including simulated mirrors and wiring harness. In this paper, we addressthe software and hardware design considerations, technologies, and challenges of designing arobust robotics framework for assembling modular space structures in support of In SpaceAssembly missions in general as well as for PASS specifically.

Benjamin N Kelley↗

DOE OSTI2022

Powering ≈50 µm Motion by a Molecular Event in DNA Crystals

A major challenge in material design is to couple nanoscale molecular and supramolecular events into desired chemical, physical, and mechanical properties at the macroscopic scale. Here, a novel self-assembled DNA crystal actuator is reported, which has reversible, directional expansion and contraction for over 50 μm in response to versatile stimuli, including temperature, ionic strength, pH, and redox potential. The macroscopic actuation is powered by cooperative dissociation or cohesion of thousands of DNA sticky ends at the designed crystal contacts. The increase in crystal porosity and cavity in the expanded state dramatically enhances the crystal capability to accommodate/encapsulate nanoparticles/proteins, while the contraction enables a “sponge squeezing” motion for releasing nanoparticles. This crystal actuator is envisioned to be useful for a wide range of applications, including powering self-propelled robotics, sensing subtle environmental changes, constructing functional hybrid materials, and working in drug controlled-release systems.

36 MATERIALS SCIENCE↗

NASA NTRS1985

The issue is leadership

Four NASA Phase B centers (NASA-Johnson, NASA-Marshall, NASA-Goddard, and NASA-Lewis) are responsible for construction, assembly, servicing, habitat, and other particular tasks and functions of the Space Station. The project has been joined by the aerospace programs of Canada, Japan, and the European Space Agency, ensuring technological and financial support, and cooperative use by the participants. Some of the future uses of the Space Station include biomedical research and applications; experiments in solar-terrestrial physics and astronomy; building, maintenance, and launching of space instruments and planetary missions; manufacturing and processing of materials that call for the conditions of microgravity and weightlessness; supporting communication operations; and improving earth and atmospheric observations. The political significance of the Space Station as a symbol of leadership and of friendly cooperation is noted.

Beggs, J. M.↗

DOE OSTI2022

Study on Conduction Cooling of Superconducting Magnets for the ILC Main Linac

In the main linac of the International Linear Collider (ILC), superconducting magnets for beam focusing and steering will be located periodically in superconducting RF (SRF) cavity string for beam acceleration in common cryomodules. A concept of conduction cooling of the combined-functioned, splittable superconducting magnets has been proposed and investigated to adapt much different features and to meet different requirements for the superconducting magnet and SRF cavity in fabrication, assembly, and operation. It is required to integrate the superconducting magnet after the SRF cavity string assembly which completed under an ultra-clean environment. The magnet must be conductively cooled down through thermal links to a liquid helium supply pipe. According to this concept, a model magnet development was carried out in cooperation with Fermilab and KEK, and has been demonstrated in KEK superconducting RF test facility (STF). In addition, an important issue has been recently identified. High gradient SRF cavities naturally emit field emission electron flux from the inner surface, so-called dark current. It may pass through the subsequent SRF cavity string and penetrate into the superconducting magnets placed downstream. It may heat up the superconducting coils, and may cause a quench. Therefore, further study on reliable conduction cooling and to secure the superconducting magnet operation with a keeping sufficient safety margin is quite essential. In this paper, we report the installation, the improvement achieved in STF, and the R&D progress in the study on the conduction cooling of the superconducting magnet for the ILC main linac.

43 PARTICLE ACCELERATORS↗