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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 1,477 records · Page 82
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Packaging Of Control Circuits In A Robot Arm

Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

Kast, William↗
NASA NTRS1990

Robotic assembly of large space structures

The Automated Structures Assembly Laboratory (ASAL) has been developed at LaRC for the following purposes: identifying the problems associated with assembling large space structures using robotic manipulators; investigating systems and techniques applicable to such assembly tasks; and developing methodology for an in-space construction facility. The ASAL facility and its robotic manipulator system is described, and a discussion of the initial series of assembly operations are included. The status of the system software development is summarized, and an outline for follow-on testing and expanded capability is given.

Will, Ralph W.↗
NASA NTRS1988

Goddard Space Flight Center Robotics Demo

Documentary footage of a fascinating look at Goddard Space Flight Center's Robotic Capability during a demonstration by Goddard robotics engineers is presented.

Source record↗
NASA NTRS1989

Robotics for Space Station, Tape 1

Shot on location at the Goddard Robotics Laboratory, this video uses state of the art Wavefront animation to take the viewer on a tour of the robotics that may, someday, be a part of Space Station Freedom.

Source record↗
NASA NTRS1991

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Lee, J.↗
NASA NTRS1985

Robotics

An overview of research being done into the use of robotic devices in space by MSFC is discussed. The video includes footage and explanations of robots being used to blast layers of thermal coating from the Space Shuttle's external tanks, the Shuttle's Remote Manipulator Arm, and animations of an Orbiting Maneuvering Vehicle to retrieve and repair satellites.

Source record↗
NASA NTRS1993

Climbing robot

A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

Kerley, James J.↗
NASA NTRS1993

Selected topics in robotics for space exploration

Papers and abstracts included represent both formal presentations and experimental demonstrations at the Workshop on Selected Topics in Robotics for Space Exploration which took place at NASA Langley Research Center, 17-18 March 1993. The workshop was cosponsored by the Guidance, Navigation, and Control Technical Committee of the NASA Langley Research Center and the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) at RPI, Troy, NY. Participation was from industry, government, and other universities with close ties to either Langley Research Center or to CIRSSE. The presentations were very broad in scope with attention given to space assembly, space exploration, flexible structure control, and telerobotics.

Montgomery, Raymond C.↗
NASA NTRS1993

A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development and is briefly described.

Klarer, Paul↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS1994

Technology for robotic surface inspection in space

This paper presents on-going research in robotic inspection of space platforms. Three main areas of investigation are discussed: machine vision inspection techniques, an integrated sensor end-effector, and an orbital environment laboratory simulation. Machine vision inspection utilizes automatic comparison of new and reference images to detect on-orbit induced damage such as micrometeorite impacts. The cameras and lighting used for this inspection are housed in a multisensor end-effector, which also contains a suite of sensors for detection of temperature, gas leaks, proximity, and forces. To fully test all of these sensors, a realistic space platform mock-up has been created, complete with visual, temperature, and gas anomalies. Further, changing orbital lighting conditions are effectively mimicked by a robotic solar simulator. In the paper, each of these technology components will be discussed, and experimental results are provided.

Volpe, Richard↗
NASA NTRS1994

Microwave vision for robots

Microwave Vision (MV), a concept originally developed in 1985, could play a significant role in the solution to robotic vision problems. Originally our Microwave Vision concept was based on a pattern matching approach employing computer based stored replica correlation processing. Artificial Neural Network (ANN) processor technology offers an attractive alternative to the correlation processing approach, namely the ability to learn and to adapt to changing environments. This paper describes the Microwave Vision concept, some initial ANN-MV experiments, and the design of an ANN-MV system that has led to a second patent disclosure in the robotic vision field.

Lewandowski, Leon↗
NASA NTRS1994

Task-level control for autonomous robots

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Simmons, Reid↗
NASA NTRS1994

An intelligent robot for helping astronauts

This paper describes the development status of a prototype supervised intelligent robot for space application for purposes of (1) helping the crew of a spacecraft such as the Space Station with various tasks, such as holding objects and retrieving/replacing tools and other objects from/into storage, and (2) for purposes of retrieving detached objects, such as equipment or crew, that have become separated from their spacecraft. In addition to this set of tasks in this low-Earth-orbiting spacecraft environment, it is argued that certain aspects of the technology can be viewed as generic in approach, thereby offering insight into intelligent robots for other tasks and environments. Candidate software architectures and their key technical issues which enable real work in real environments to be accomplished safely and robustly are addressed. Results of computer simulations of grasping floating objects are presented. Also described are characterization results on the usable reduced gravity environment in an aircraft flying parabola (to simulate weightlessness) and results on hardware performance there. These results show it is feasible to use that environment for evaluative testing of dexterous grasping based on real-time vision of freely rotating and translating objects.

Erickson, J. D.↗
NASA NTRS1994

Force override rate control for robotic manipulators

The work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when contact is made. The paper details how the modal changeover may be accomplished in a manner transparent to the operator, and will allow operator applied forces to be reflected at the robot end effector. A one degree of freedom demonstration system is used to illustrate the concept, which is then applied to a PUMA manipulator. Sample code for the implementation of the control is provided, experimental results show that the optimum setting for the gain is a function of the compliance of the end effector, and the compliance of the external constraint.

Driels, Morris↗
NASA NTRS1994

Robot friendly probe and socket assembly

A probe and socket assembly for serving as a mechanical interface between structures is presented. The assembly comprises a socket having a housing adapted for connection to a first supporting structure and a probe which is readily connectable to a second structure and is designed to be easily grappled and manipulated by a robotic device for insertion and coupling with the socket. Cooperable automatic locking means are provided on the probe shaft and socket housing for automatically locking the probe in the socket when the probe is inserted a predetermined distance. A second cooperable locking means on the probe shaft and housing are adapted for actuation after the probe has been inserted the predetermined distance. Actuation means mounted on the probe and responsive to the grip of the probe handle by a gripping device, such as a robot for conditioning the probe for insertion and are also responsive to release of the grip of the probe handle to actuate the second locking means to provide a "hard" lock of the probe in the socket.

Karen L Nyberg↗
NASA NTRS1994

Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations

Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt, and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

Diner, Daniel B.↗