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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 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Use of a multiprocessor for control of a robotic system

In the case of complex industrial operations, the use of a multiprocessor for the control of a robotic system has a number of potential advantages over an employment of a single-processor design. In addition to the increased speed of parallel computation, multiprocessors can provide greater reliability. However, the control of a system with a multiprocessor is much more complicated, and requires resolution of a number of design criteria. The degree of coupling, the processor interconnection configuration, and the method of fault detection and correction are factors in the design of a multiprocessor which need to be considered for each particular application. In connection with the present investigation, a five-unit multiprocessor was built to experiment with the multiprocessor control of a robotic system. While the primary application of the multiprocessor involves the control of the Ohio State University (OSU) Hexapod, an 18-degree-of-freedom, motor-driven walking machine, the multiprocessor was designed to be versatile enough for a numbr of other uses.

Klein, C. A.↗
NASA NTRS1993

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗
NASA NTRS2020

Robotics System Process and Concept for On-orbit Assembly for Potential Mars Sample Return

Proposed Mars Sample Return (MSR) missions would require on-orbit assembly of containment vessels to meet backward Planetary Protection requirements and transfer of the sample container through various stations and positions. Some operations would have to be performed autonomously, and others would require ground-in-loop decision-making stages and verification processes. One concept design for an Earth Return Orbiter (ERO) Capture, Contain, and Return System (CCRS) Transfer Mechanism (TM) is a multi-Degree of Freedom (DOF) manipulator that utilizes a passive End Effector (EE) to assist in containment vessel assembly. To converge on a feasible design, a robotic system process has been instantiated. This process is composed of three main phases: robotic problem definition (operating environment, operations/functions, system goals), robotic solution selection (trade studies on the number of degrees of freedom, number of mechanisms, types of mechanisms), robotic solution design, implementation, and verification and validation (kinematic configuration, robotic and kinematic analysis and topology optimization of components). As a final product of this process, a half-scale functional prototype of the TM was developed to demonstrate the end-to-end operation capability.

Strahle, Jackson W↗
NASA NTRS1994

Simulation study of the ROMPS robot control system

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1992

Future needs for space robots for SEI

High level systems engineering modeling and analysis activities for the Space Exploration Initiative (SEI) are reviewed, with emphasis on planet surface systems. Particular attention is given to SEI studies, preliminary space robotic system requirements, and usefulness of space robotic systems developed to operate on planetary surfaces on earth. It is concluded that supervised intelligent systems on the planet surfaces are necessary to make SEI planet surface activities reliable and productive and encompass capabilities for control and monitoring of all elements, including supervised autonomous robotic systems. Amplification of human capabilities due to applying more knowledge and reasoning in more flexible and appropriate ways than conventional automation approaches will provide more robust performance, greater choice of interaction modes with operators, and greater transparency of operation.

Erickson, Jon D.↗
NASA NTRSDate not supplied

Gateway Autonomy for Enabling Deep Space Exploration

The Gateway spacecraft is an important stepping-stone to exploration of the solar system, integrating commercial and international partners into a tightly coupled system, enabling cislunar activities, and implementing key technologies for missions to Mars. Autonomy is a capability area necessary to handle long communication outages where intervention from Earth is impossible, to prepare to operate with long communication delays that will be common in interplanetary travel, and to make spaceflight more affordable and accessible by reducing sustaining operations costs. The Gateway Concept of Operations states that one of Gateway’s goals is to “focus on infrastructure and systems that will allow autonomous operations aboard the Gateway with robotics, automated systems, advanced communications, and distributed computing.” Gateway’s Vehicle Systems Manager (VSM) and associated Autonomous Spacecraft Management Architecture (ASMA) are key products towards delivering autonomous capability. The primary functions of the control architecture are Mission Management and Timeline Execution, Resource Management, Fault Management, and Vehicle Control and Operation (VCO). In each of these areas, there is an initial level of capability to be delivered at launch, with plans to continue development and grow to greater capability. The initial deployment of VSM will focus on maintaining vehicle safety by focusing on full fault management capabilities and deploying only enough resource and timeline planning functionality to support that. The final deployment of VSM will add significant planning and control optimization functionality to support nominal operations for up to 21 days without ground support, even accommodating fault and failure conditions. While the VSM is the vehicle-level representation of autonomous reasoning, distributed automation is essential to provide the right scope and abstraction of information to process. Module and system support of automation and simplicity of interfaces are two important design paradigms that Gateway is focusing on to garner a systems approach to autonomy. Distribution of reasoning can increase complexity, so Gateway is also taking a strict hierarchical approach to information flow and decision making. VSM is not the only capability necessary to achieve an autonomous spacecraft. Robotics support for maintenance of the spacecraft will be essential to provide continued vehicle functionality even when crew is not present. Technical and programmatic challenges exist when implementing autonomous robotics operations. These challenges include sufficient network flexibility to support data transfer to the rest of the vehicle to coordinate module-to-module robotic walk-offs and finding the proper interfaces to allow sufficient dexterity. Communication system upgrades planned for Gateway include Delay Tolerant Networking to best utilize the complex network of relays that will be part of mature cislunar operations. Distributed computing and management will provide failure tolerance, robustness, and growth of capabilities while still allowing significant reuse of heritage software on heritage systems as well as reuse of common applications across a spacecraft to minimize new development, but this requires adherence to key standards and interfaces. The Gateway program has demonstrated significant progress towards these capabilities and has identified challenges other spacecraft developers should be aware of from the start.

Molly Anderson↗
NASA NTRSDate not supplied

Gateway Autonomy for Enabling Deep Space Exploration

The Gateway spacecraft is an important stepping-stone to exploration of the solar system, integrating commercial and international partners into a tightly coupled system, enabling cislunar activities, and implementing key technologies for missions to Mars. Autonomy is a capability area necessary to handle long communication outages where intervention from Earth is impossible, to prepare to operate with long communication delays that will be common in interplanetary travel, and to make spaceflight more affordable and accessible by reducing sustaining operations costs. The Gateway Concept of Operations states that one of Gateway’s goals is to “focus on infrastructure and systems that will allow autonomous operations aboard the Gateway with robotics, automated systems, advanced communications, and distributed computing.” Gateway’s Vehicle Systems Manager (VSM) and associated Autonomous Spacecraft Management Architecture (ASMA) are key products towards delivering autonomous capability. The primary functions of the control architecture are Mission Management and Timeline Execution, Resource Management, Fault Management, and Vehicle Control and Operation (VCO). In each of these areas, there is an initial level of capability to be delivered at launch, with plans to continue development and grow to greater capability. The initial deployment of VSM will focus on maintaining vehicle safety by focusing on full fault management capabilities and deploying only enough resource and timeline planning functionality to support that. The final deployment of VSM will add significant planning and control optimization functionality to support nominal operations for up to 21 days without ground support, even accommodating fault and failure conditions. While the VSM is the vehicle-level representation of autonomous reasoning, distributed automation is essential to provide the right scope and abstraction of information to process. Module and system support of automation and simplicity of interfaces are two important design paradigms that Gateway is focusing on to garner a systems approach to autonomy. Distribution of reasoning can increase complexity, so Gateway is also taking a strict hierarchical approach to information flow and decision making. VSM is not the only capability necessary to achieve an autonomous spacecraft. Robotics support for maintenance of the spacecraft will be essential to provide continued vehicle functionality even when crew is not present. Technical and programmatic challenges exist when implementing autonomous robotics operations. These challenges include sufficient network flexibility to support data transfer to the rest of the vehicle to coordinate module-to-module robotic walk-offs and finding the proper interfaces to allow sufficient dexterity. Communication system upgrades planned for Gateway include Delay Tolerant Networking to best utilize the complex network of relays that will be part of mature cislunar operations. Distributed computing and management will provide failure tolerance, robustness, and growth of capabilities while still allowing significant reuse of heritage software on heritage systems as well as reuse of common applications across a spacecraft to minimize new development, but this requires adherence to key standards and interfaces. The Gateway program has demonstrated significant progress towards these capabilities and has identified challenges other spacecraft developers should be aware of from the start.

Molly Anderson↗
NASA NTRS2015

2nd Generation QUATARA Flight Computer Project

Single core flight computer boards have been designed, developed, and tested (DD&T) to be flown in small satellites for the last few years. In this project, a prototype flight computer will be designed as a distributed multi-core system containing four microprocessors running code in parallel. This flight computer will be capable of performing multiple computationally intensive tasks such as processing digital and/or analog data, controlling actuator systems, managing cameras, operating robotic manipulators and transmitting/receiving from/to a ground station. In addition, this flight computer will be designed to be fault tolerant by creating both a robust physical hardware connection and by using a software voting scheme to determine the processor's performance. This voting scheme will leverage on the work done for the Space Launch System (SLS) flight software. The prototype flight computer will be constructed with Commercial Off-The-Shelf (COTS) components which are estimated to survive for two years in a low-Earth orbit.

Falker, Jay↗
NASA NTRS1992

Software design for automated assembly of truss structures

Concern over the limited intravehicular activity time has increased the interest in performing in-space assembly and construction operations with automated robotic systems. A technique being considered at LaRC is a supervised-autonomy approach, which can be monitored by an Earth-based supervisor that intervenes only when the automated system encounters a problem. A test-bed to support evaluation of the hardware and software requirements for supervised-autonomy assembly methods was developed. This report describes the design of the software system necessary to support the assembly process. The software is hierarchical and supports both automated assembly operations and supervisor error-recovery procedures, including the capability to pause and reverse any operation. The software design serves as a model for the development of software for more sophisticated automated systems and as a test-bed for evaluation of new concepts and hardware components.

Herstrom, Catherine L.↗
NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗
NASA NTRS1995

STS-64 Space Shuttle mission report

The STS-64 Space Shuttle Program Mission Report summarizes the Payload activities as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Redesigned Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance during the sixty-fourth flight of the Space Shuttle Program and the nineteenth flight of the Orbiter vehicle Discovery (OV-103). In addition to the Orbiter, the flight vehicle consisted of an ET that was designated ET-66; three SSMEs that were designated as serial numbers 2031, 2109, and 2029 in positions 1, 2, and 3, respectively; and two SRB's that were designated Bl-068. The RSRM's that were installed in each SRB were designated as 360L041 A for the left SRB, and 360L041 B for the right SRB. The primary objective of this flight was to successfully perform the planned operations of the Lidar In-Space Technology Experiment (LITE), and to deploy the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) -201 payload. The secondary objectives were to perform the planned activities of the Robot Operated Materials Processing System (ROMPS), the Shuttle Amateur Radio Experiment - 2 (SAREX-2), the Solid Surface Combustion Experiment (SSCE), the Biological Research in Canisters (BRIC) experiment, the Radiation Monitoring Equipment-3 (RME-3) payload, the Military Application of Ship Tracks (MAST) experiment, and the Air Force Maui Optical Site Calibration Test (AMOS) payload.

Fricke, Robert W., Jr.↗
NASA NTRS1991

Employing lighting techniques during on-orbit operations

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

Wheelwright, Charles D.↗
NASA NTRS1992

Lunar site characterization and mining

Lunar mining requirements do not appear to be excessively demanding in terms of volume of material processed. It seems clear, however, that the labor-intensive practices that characterize terrestrial mining will not suffice at the low-gravity, hard-vacuum, and inaccessible sites on the Moon. New research efforts are needed in three important areas: (1) to develop high-speed, high-resolution through-rock vision systems that will permit more detailed and efficient mine site investigation and characterization; (2) to investigate the impact of lunar conditions on our ability to convert conventional mining and exploration equipment to lunar prototypes; and (3) to develop telerobotic or fully robotic mining systems for operations on the Moon and other bodies in the inner solar system. Other aspects of lunar site characterization and mining are discussed.

Glass, Charles E.↗
NASA NTRS1991

Some criteria for teleoperators and virtual environments from experiences with vehicle/operator simulation

A review is given of a wide range of simulations in which operator steering control of a vehicle is involved and the dominant-clues, closed-loop bandwidth, measured operator effective time-delay, and ratio of bandwidth-to-inverse delay are summarized. A correlation of kinetosis with dynamic scene field-of-view is shown. The use of moving base simulators to improve the validity of locomotion teleoperations is discussed. some rules-of-thumb for good 'feel-system' simulation, such as for control manipulanda are given. Finally, simulation tests of teleoperators and virtual environments should include three types of measures: system performance, operator (or robot) 'behavior', and mental workload evaluations.

Jex, Henry R.↗
NASA NTRS1997

Autonomous Mobility, Navigation, and Control for Venus Aerobots

Ballons systems which operate under robotic contol, called aerobots, offer rich potential for exploration of the planets. Telerobotics technology allows an aerobot to control its vertical motion and exploit prevailing winds to autonomously move to different planetery locations.

Control for Venus Aerobots Robotic Control Navigat↗