Search NASA⌕ Search

SEARCH · Search NASA

Results for “Robotics.”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,549 records · Page 86
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Robotic Exploration of the Surface and Atmosphere of Venus

Venus, the "greenhouse planet", is a scientifically fascinating place. In many ways it can be considered "Earth's evil twin." A huge number of important scientific questions remain to be answered: 1) Before the runaway greenhouse effect, was early Venus temperate? 2) Did Venus once have an ocean? 3) What causes the geological resurfacing of the planet? 4) Is Venus still geologically active? 5) What is the "snow" on Venus mountaintops? 6) Can we learn about Earth's climate from Venus? 7) Is the atmosphere of Venus suitable for life? To address these and other scientific questions, a robotic mission to study the surface and atmosphere of Venus has been designed. The mission includes both surface robots, designed with an operational lifetime of 90 days on the surface of Venus, and also solar-powered airplanes to probe the middle atmosphere. At 450 Celsius, and with 90 atmospheres of pressure of carbon-dioxide atmosphere, the surface of Venus is a hostile place for operation of a probe. This paper will present the mission design, discuss the technology options for materials, power systems, electronics, and instruments, and present a short summary of the mission.

Landis, Geoffrey A.↗
NASA NTRS2005

Wide Field Camera 3 Accommodations for HST Robotics Servicing Mission

This slide presentation discusses the objectives of the Hubble Space Telescope (HST) Robotics Servicing and Deorbit Mission (HRSDM), reviews the Wide Field Camera 3 (WFC3), and also reviews the contamination accomodations for the WFC3. The objectives of the HRSDM are (1) to provide a disposal capability at the end of HST's useful life, (2) to upgrade the hardware by installing two new scientific instruments: replace the Corrective Optics Space Telescope Axial Replacement (COSTAR) with the Cosmic Origins Spectrograph (COS), and to replace the Wide Field/Planetary Camera-2 (WFPC2) with Wide Field Camera-3, and (3) Extend the Scientific life of HST for a minimum of 5 years after servicing. Included are slides showing the Hubble Robotic Vehicle (HRV) and slides describing what the HRV contains. There are also slides describing the WFC3. One of the mechanisms of the WFC3 is to serve partially as replacement gyroscopes for HST. There are also slides that discuss the contamination requirements for the Rate Sensor Units (RSUs), that are part of the Rate Gyroscope Assembly on the WFC3.

Ginyard, Amani↗
NASA NTRS2004

Human-Robot Teaming in a Multi-Agent Space Assembly Task

NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.

Rehnmark, Fredrik↗
NASA NTRS2004

Mini AERCam Inspection Robot for Human Space Missions

The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.

Fredrickson, Steven E.↗
NASA NTRS1993

Mars Relays Satellite Orbit Design Considerations for Global Support of Robotic Surface Missions

This paper discusses orbit design considerations for Mars relay satellite (MRS)support of globally distributed robotic surface missions. The orbit results reported in this paper are derived from studies of MRS support for two types of Mars robotic surface missions: 1) the mars Environmental Survey (MESUR) mission, which in its current definition would deploy a global network of up to 16 small landers, and 2)a Small Mars Sample Return (SMSR) mission, which included four globally distributed landers, each with a return stage and one or two rovers, and up to four additional sets of lander/rover elements in an extended mission phase.

Robitics Mars↗
NASA NTRS2006

NASA's Lunar Robotic Program

Before returning humans to the Moon for mankind s seventh lunar landing, NASA will embark upon a series of robotic missions with International partnership, executed within the construct of an integrated program, designed specifically to prepare the way for this further human exploration. The Lunar Precursors Robotic Exploration Program (LPRP) will acquire knowledge about the moon and its environment, as well as to develop operational experience and infrastructure, all needed to bring about sustained human exploration in the lunar environment. This paper presents an overview of the program in its early stages, a review of the currently planned missions, highlights of several of the program s important features and objectives, and a discussion of the challenges faced as we move forward to prepare for a return of people to the Moon.

McGrath, Melissa A.↗
NASA NTRS2006

Space Robotics: AWIMR an Overview

This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.

Wagner, Rick↗
NASA NTRS2006

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

LeMaster, Edward A.↗
NASA NTRS1993

Sensor tip for a robotic gripper and method of manufacture

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Lorenz, Robert D.↗
NASA NTRS1992

Stereo optical guidance system for control of industrial robots

A device for the generation of basic electrical signals which are supplied to a computerized processing complex for the operation of industrial robots. The system includes a stereo mirror arrangement for the projection of views from opposite sides of a visible indicia formed on a workpiece. The views are projected onto independent halves of the retina of a single camera. The camera retina is of the CCD (charge-coupled-device) type and is therefore capable of providing signals in response to the image projected thereupon. These signals are then processed for control of industrial robots or similar devices.

Powell, Bradley W.↗
NASA NTRS1991

Sensor tip for a robotic gripper and method of manufacture

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Lorenz, Robert D.↗
NASA NTRS2003

Robotic system

A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

Ambrose, Robert O.↗
NASA NTRS1987

Robot gripper

An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

Webb, Winston S.↗
NASA NTRS1989

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Hayati, Samad A.↗
NASA NTRS2008

The NASA Robotic Conjunction Assessment Process: Overview and Operational Experiences

Orbital debris poses a significant threat to spacecraft health and safety. Recent events such as China's anti-satellite test and the Breeze-M rocket explosion have led to an even greater awareness and concern in the satellite community. Therefore, the National Aeronautics and Space Administration (NASA) has established requirements that routine conjunction assessment screening shall be performed for all maneuverable spacecraft having perigees less than 2000 km or within 200 km of geosynchronous altitude. NASA s Goddard Space Flight Center (GSFC) has developed an operational collision risk assessment process to protect NASA s high-value unmanned (robotic) assets that has been in use since January 2005. This paper provides an overview of the NASA robotic conjunction assessment process, including descriptions of the new tools developed to analyze close approach data and of the risk mitigation strategies employed. In addition, statistical data describing the number of conjunctions experienced are presented. A debris avoidance maneuver performed by Aura in June of 2008 is described in detail to illustrate the process.

Newman, Lauri Kraft↗
NASA NTRS2008

Managing Complexity in Next Generation Robotic Spacecraft: From a Software Perspective

This presentation highlights the challenges in the design of software to support robotic spacecraft. Robotic spacecraft offer a higher degree of autonomy, however currently more capabilities are required, primarily in the software, while providing the same or higher degree of reliability. The complexity of designing such an autonomous system is great, particularly while attempting to address the needs for increased capabilities and high reliability without increased needs for time or money. The efforts to develop programming models for the new hardware and the integration of software architecture are highlighted.

Multi - threaded programming↗
NASA NTRS2008

Microgravity, Mesh-Crawling Legged Robots

The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

Behar, Alberto↗