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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Space Station crew workload - Station operations and customer accommodations

The features of the Space Station which permit crew members to utilize work time for payload operations are discussed. The user orientation, modular design, nonstressful flight regime, in space construction, on board control, automation and robotics, and maintenance and servicing of the Space Station are examined. The proposed crew size, skills, and functions as station operator and mission specialists are described. Mission objectives and crew functions, which include performing material processing, life science and astronomy experiments, satellite and payload equipment servicing, systems monitoring and control, maintenance and repair, Orbital Maneuvering Vehicle and Mobile Remote Manipulator System operations, on board planning, housekeeping, and health maintenance and recreation, are studied.

Shinkle, G. L.↗
NASA NTRS1988

A teleoperated robotic manipulator system for materials processing experiment servicing

In 1984 Congress authorized NASA to begin the Space Station Program, and requested that 10 percent of program funds be spent in implementing automation and robotics (A and R) on the Space Station. In response to that request, Boeing established several Independent Research and Development (IR and D) projects to explore possible uses for A and R on the Space Station. One of those projects, and automated materials processing experiment, is discussed. The project uses a teleoperated robot to demonstrate telescience applied to a Chemical Vapor Transport materials processing experiment.

Suchting, Steven↗
NASA NTRS1990

Summary of astronaut inputs concerning automation

An assessment of the potential for increased productivity on Space Station Freedom through advanced automation and robotics was recently completed. Sponsored by the Office of Space Station, the study involved reviews of on-orbit operations experience documentation, interviews with 23 current and former astronauts/payload specialists as well as other NASA and contractor personnel, and a survey of 32 astronauts and payload specialists. Assessed areas of related on-orbit experience included Skylab, space shuttle, Spacelab, and the Soviet space program, as well as the U.S. nuclear submarine program and Antarctic research stations analogs. The survey questionnaire asked the respondents to rate the desirability of advanced automation, EVA robotics, and IVA robotics. They were also asked to rate safety impacts of automated fault diagnosis, isolation, and recovery (FDIR); automated exception reporting and alarm filtering; and an EVA retriever. The respondents were also asked to evaluate 26 specific applications of advanced automation and robotics related to perceived impact on productivity.

Weeks, David J.↗
NASA NTRS1988

The space station assembly phase: System design trade-offs for the flight telerobotic servicer

The effects of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems often involves a substitution of automation capabilities for human EVA or IVA activities. A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effects of operational constaints. Changes in the region of cost-effectiveness are examined under a variety of system design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: as a research-oriented test bed to learn more about space usage of telerobotics; as a research based test bed having an experimental demonstration orientation with limited assembly and servicing applications; or as an operational system to augment EVA and to aid construction of the Space Station and to reduce the program (schedule) risk by increasing the flexibility of mission operations.

Smith, Jeffrey H.↗
NASA NTRS2016

Evaluation of Human and AutomationRobotics Integration Needs for Future Human Exploration Missions

NASA employs Design Reference Missions (DRMs) to define potential architectures for future human exploration missions to deep space, the Moon, and Mars. While DRMs to these destinations share some components, each mission has different needs. This paper focuses on the human and automation/robotic integration needs for these future missions, evaluating them with respect to NASA research gaps in the area of space human factors engineering. The outcomes of our assessment is a human and automation/robotic (HAR) task list for each of the four DRMs that we reviewed (i.e., Deep Space Sortie, Lunar Visit/Habitation, Deep Space Habitation, and Planetary), a list of common critical HAR factors that drive HAR design.

design reference missions↗
NASA NTRS1988

Robotic and automatic welding development at the Marshall Space Flight Center

Welding automation is the key to two major development programs to improve quality and reduce the cost of manufacturing space hardware currently undertaken by the Materials and Processes Laboratory of the NASA Marshall Space Flight Center. Variable polarity plasma arc welding has demonstrated its effectiveness on class 1 aluminum welding in external tank production. More than three miles of welds were completed without an internal defect. Much of this success can be credited to automation developments which stabilize the process. Robotic manipulation technology is under development for automation of welds on the Space Shuttle's main engines utilizing pathfinder systems in development of tooling and sensors for the production applications. The overall approach to welding automation development undertaken is outlined. Advanced sensors and control systems methodologies are described that combine to make aerospace quality welds with a minimum of dependence on operator skill.

Jones, C. S.↗
NASA NTRS1984

Space station automation study-satellite servicing. Volume 1: Executive summary

A plan for advancing the state of automation and robotics technology as an integral part of the U.S. space station development effort was studied. This study was undertaken: (1) to determine the benefits that will accrue from using automated systems onboard the space station in support of satellite servicing; (2) to define methods for increasing the capacity for, and effectiveness of satellite servicing while reducing demands on crew time and effort and on ground support; (3) to find optimum combinations of men/machine activities in the performance of servicing functions; and (4) project the evolution of automation technology needed to enhance or enable satellite servicing capabilities to match the evolutionary growth of the space station. A secondary intent is to accelerate growth and utilization of robotics in terrestrial applications as a spin-off from the space station program.

Source record↗
NASA NTRS1988

Machine vision for real time orbital operations

Machine vision for automation and robotic operation of Space Station era systems has the potential for increasing the efficiency of orbital servicing, repair, assembly and docking tasks. A machine vision research project is described in which a TV camera is used for inputing visual data to a computer so that image processing may be achieved for real time control of these orbital operations. A technique has resulted from this research which reduces computer memory requirements and greatly increases typical computational speed such that it has the potential for development into a real time orbital machine vision system. This technique is called AI BOSS (Analysis of Images by Box Scan and Syntax).

Vinz, Frank L.↗
NASA NTRS1991

Industry-university cooperation/research

The paper concentrates on the commercial development of space programs through cooperative research with the U.S. universities and industry. The origins of the programs are discussed, beginning with the Communication Satellite Act of 1963. The National Space Policy is outlined, and the creation of NASA's Office of Commercial Programs is emphasized, along with its Centers for the Commercial Development of Space. It is noted that the centers are consortia of university, industry, and government involved in commercial-space-technology database development and research and testing of potentially valuable products and services. The center titles, locations, and brief descriptions for such area of research as remote sensing, life sciences, materials processing, space power, space propulsion, materials and space structures, and automation and robotics centers are listed, along with some results of the programs.

Whitten, Raymond P.↗
NASA NTRS1994

Mission Evaluation Room Intelligent Diagnostic and Analysis System (MIDAS)

The role of Mission Evaluation Room (MER) engineers is to provide engineering support during Space Shuttle missions, for Space Shuttle systems. These engineers are concerned with ensuring that the systems for which they are responsible function reliably, and as intended. The MER is a central facility from which engineers may work, in fulfilling this obligation. Engineers participate in real-time monitoring of shuttle telemetry data and provide a variety of analyses associated with the operation of the shuttle. The Johnson Space Center's Automation and Robotics Division is working to transfer advances in intelligent systems technology to NASA's operational environment. Specifically, the MER Intelligent Diagnostic and Analysis System (MIDAS) project provides MER engineers with software to assist them with monitoring, filtering and analyzing Shuttle telemetry data, during and after Shuttle missions. MIDAS off-loads to computers and software, the tasks of data gathering, filtering, and analysis, and provides the engineers with information which is in a more concise and usable form needed to support decision making and engineering evaluation. Engineers are then able to concentrate on more difficult problems as they arise. This paper describes some, but not all of the applications that have been developed for MER engineers, under the MIDAS Project. The sampling described herewith was selected to show the range of tasks that engineers must perform for mission support, and to show the various levels of automation that have been applied to assist their efforts.

Pack, Ginger L.↗
NASA NTRSDate not supplied

Lunar Excavator Mission Operations using Dynamic Movement Primitives

To support sustainable infrastructure on the Moon, NASA must leverage robots to extract lunar resources for in-situ processing and construction. As part of this effort, NASA is launching the in-situ resource utilization (ISRU) Pilot Excavator later this decade to validate a robotic regolith excavator based on the Regolith Advanced Surface Systems Operations Robot (RASSOR). RASSOR is designed to extract and transport regolith to meet the needs of ISRU architectures. During its mission, Pilot Excavator will be tasked with driving in test patterns to demonstrate the operational concept. One of these tests is a circular trajectory around the lander while avoiding miscellaneous surface hazards such as lunar rocks. To this end, we utilize dynamic movement primitives to represent navigation sequences as primitive trajectories. Here, we introduce a novel obstacle avoidance parameter, which is configured to avoid rocks throughout testing exercises. We demonstrate the effectiveness our method in a newly developed simulation tool called the Simulated Excavation Environment for Lunar Operations (SEELO) using models based on the NASA RASSOR 2.0 excavator. After making key changes to the obstacle avoidance formulation, our results show that the robot is able to safety and robustly navigate the lunar surface with densely populated rock obstacles while retaining the desired circle pattern behavior.

Space Robotics and Automation↗
NASA NTRSDate not supplied

Efficient and Singularity-Aware Inverse Kinematics for 6-DOF and 7-DOF Revolute Manipulators

Inverse kinematics (IK) for 6-DOF and 7-DOF revolute robot manipulators may be decomposed into canonical subproblems which find the angles on circles where they intersect with other geometric objects. We present new algebraic solutions and geometric interpretations for six subproblems. We demonstrate significant performance improvements over existing IK methods. 7-DOF manipulators have one redundant DOF to parameterize, so we introduce the general SEW angle, which generalizes the conventional SEW angle but with an arbitrary reference direction function. One special choice, the stereographic SEW angle, has a singularity when the wrist is on a half-line instead of a full line.

Computational Geometry↗
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗
NASA NTRS1988

Robotic space construction

Research at Langley AFB concerning automated space assembly is reviewed, including a Space Shuttle experiment to test astronaut ability to assemble a repetitive truss structure, testing the use of teleoperated manipulators to construct the Assembly Concept for Construction of Erectable Space Structures I truss, and assessment of the basic characteristics of manipulator assembly operations. Other research topics include the simultaneous coordinated control of dual-arm manipulators and the automated assembly of candidate Space Station trusses. Consideration is given to the construction of an Automated Space Assembly Laboratory to study and develop the algorithms, procedures, special purpose hardware, and processes needed for automated truss assembly.

Mixon, Randolph W.↗
NASA NTRS1986

The evolution of automation and robotics in manned spaceflight

The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

Moser, T. L.↗
NASA NTRS1985

Statement of Aaron Cohen, Director, Research and Engineering, Johnson Space Center and Chairman, Space Station Advanced Technology Advisory Committee, National Aeronautics and Space Administration, before the Subcommittee on Science, Technology, and Space, Committee on Commerce, Science, and Transportation, United States Senate

The activities of NASA's Space Station Advanced Technology Advisory Committee is discussed. Advanced Technology Advisory Committee (ATAC) activities over the last year are reviewed in preparation of the report to Congress on the potential for advancing automation and robotics technology for the space station and for the U.S. economy.

Cohen, A.↗
NASA NTRS1985

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

Source record↗
NASA NTRS2020

Deep Space Human-Systems Research Recommendations for Future Human-Automation/Robotic Integration

Appropriate integration between automation and robotics systems and their human operators is essential for future space exploration. The Human Factors and Behavioral Performance Element of NASA’s Human Research Program requires a systematic understanding of the critical human-automation/robotic (HAR) integration, or HARI, design challenges for future space exploration. This document reports the results of a systematic assessment of the spaceflight-relevant HARI technologies and research topics addressing critical gaps in spaceflight-relevant HARI knowledge, and prioritizes research required for successful human performance and HAR integration. We reviewed relevant literature across the past ten years and interviewed ten subject matter experts to investigate the current state of HARI technology, challenges facing development, the state of HARI research across a wide range of fields, and opportunities for advancing the state of the art through directed research. This information was used to identify relevant HARI technologies and research topics, as well as factors to assess relative priority of HARI technologies. We worked with NASA stakeholders to weight the factors relevant to assessing HARI specific technologies. A multi-dimensional trade analysis was performed to objectively score HARI research topics and specific technologies to recommended investment priorities for NASA.

human-automation interaction↗