Early Career Network Outreach event Alianza School- Astrobee: Autonomous free flying robots for the ISS
Astrobee: Autonomous Free flying robots for the ISS
Astrobee↗
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.
Astrobee: A Free Flying Robot Enabling Technology Demonstrations
The Astrobee Project has developed next-generation free-flying robots to operate inside the ISS. Three Astrobee Free Flyers reached the ISS in April 2019and are currently hosting a variety of users while completing the commissioning phase.Commissioning is scheduled to complete in July 2020.
Astrobee Free-Flyer Robotics↗
Autonomous Systems & Robotics
Summary of human-system interaction for future human Mars missions and current STMD investments in autonomous systems and robotics.
human-system interaction↗
NASA Autonomous Systems & Robotics: Roadmap and Investments
Introduction to NASA STMD approach to autonomous systems and robotics technology development
space robotics↗
The Ocean’s Breath: How Autonomous Robotic Vehicles at Sea and Super Computers are Helping us Understand the Carbon Cycle in the Ocean
Carbon dioxide due to human activities such as fossil fuel burning has well-known and concerning implications for global temperatures as well as terrestrial and marine ecosystems. Hence, an important objective of NASA Earth science is to observe and understand the variations in the global carbon cycle and the associated climate and ecosystem impacts in the context of past and projected anthropogenic emissions. In my presentation, I will tell the story of how some of my collaborators and I are using autonomous robotic vehicles and super computers to try to untangle the mysteries of the carbon cycle in the ocean, which depends in fascinating ways on atmospheric and ocean physics, marine ecosystem dynamics, as well as the chemistry of the seawater.
Ocean's breath↗
Spacecraft Operation Emulation Via Six DOF Tendon-Actuated Robot
NASA Johnson Space Center’s (JSC) Simulation, Emulation, Navigation, Sensors and STAR (SENSS) Laboratory has developed a large-scale six degree of freedom tendon-actuated robot (STAR) for emulation of spacecraft proximity operations and Entry, Descent, and Landing approach trajectories to aid in the rapid development and testing of a wide range of guidance, navigation, and control algorithms at low cost.
navigation↗
Lunar Science and Mission Systems Integration for Real-Time Long Duration Remote Robot Surface Operations
Conducting lunar science with a robot on the Moon that is commanded in real-time from Earth by distributed workgroups for long durations is a specific activity that has been developed by many projects including NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) mission. VIPER’s nominal mission period for surface operations was set for 100 Earth days (four lunar days). VIPER’s science knowledge acquisition was set to focus on characterizing the distribution of water and volatiles across a range of thermal environments, within a traverse planned to optimize science return across up to 20 km. While VIPER’s status is the subject of discussion, there is research and analysis from the development and simulations phases that are of benefit to the lunar science community and future remote science operations projects. Discussed here are some findings on the process of integrating lunar science with mission system operations.
VIPER↗
Wi-Fi Signal Survey of the International Space Station by Autonomous Free-Flying Robot
This paper analyzes Wi-Fi signal propagation inside pressurized modules of the International Space Station (ISS). Various flight datasets were collected by the Astrobee fleet of autonomous free-flying robots developed by the NASA Ames Research Center (ARC). The enclosed module spaces of the ISS pose unique challenges for Wi-Fi signal propagation, and understanding these challenges is crucial for optimizing connectivity in such environments. The survey data presented are valuable for optimizing wireless access point (WAP) locations and conditions. A computational method is developed to analyze the wireless communication system, RF coverage, and module compositions. The method is both rigorous and practical for assessing the ISS wireless system performance. The computational tools in this paper serve as a complementary approach to direct, on-orbit measurements, which is a complicated and expensive task. In some operational scenarios, ground measurements may be intractable due to the size of the spacecraft. Results from this research will aid future space missions and commercial spacecraft, providing insights into optimal WAP placements and robust wireless communication systems.
International Space Station↗
Wind Turbine Blade Finishing Automation: Robotic Toolpath Generation
Wind turbine blades are now over 100 meters long and can reach heights of several meters while in the finishing area of the factory. Because of this, automation should be used to lower the manufacturing cost and make the process safer for blade manufacturing technicians. This session will present a novel method that generates a six degree of freedom robotic toolpath with 3D cameras for the finishing of wind turbine blades to drive down the levelized cost and make wind energy even more competitive in the utility scale energy generation industry.
3d imaging↗
Tele-robotics Requirements for Remote Handling in Nuclear Facilities - 17538
The main constraint in scientific nuclear facilities is the environmental conditions inside the operational areas which imply restrictive equipment requirements to resist high radiation levels and other restrictions related to magnetism, ultra-vacuum, and/or temperature. Robots for remote handling systems are required to perform inspection and maintenance operations since direct human intervention is not allowed, or constrained, under these environmental conditions. Several challenges have to be solved in tele-operation technologies in order to properly perform remote tasks in scientific nuclear radiation facilities. The main solutions described in this paper are based on using multiplexer for the transmission of signals and applying hybrid rate/position control algorithm so as to improve tele-manipulation in these environments. Both developments have been evaluated and discussed. (authors)
42 ENGINEERING↗
Global Security– Work In Progress NNSS and UNLV joint multiplatform radiation measurement campaign using UAS and ground robots
Presents work under SDRD feasibility studies FS-23-130 using ground based robots to survey radiologically contaminated area
42 ENGINEERING↗
Robotic Cleaning of the Total Dissolved Solids Tanks at the Palo Verde Nuclear Generating Station - 18337
Westinghouse is executing a contract from Arizona Public Services to provide a system capable of removing highly radioactive sediment from eight Total Dissolved Solids (TDS) Tanks located at the Palo Verde Nuclear Generating Station. The scope of work covers the design, procurement, fabrication, and eventual operation of the system at the Palo Verde Site. It also includes the factory acceptance testing of the system, prior to operation at the site. Previous attempts to clean the tanks involved working inside and around the tanks for extended periods of time in a high radiation field. Spray hoses were used to wash down the sediment, and hand tools were used to scrape out the remaining sludge at the bottom. This methodology also required the lower manway to be removed. As a result, the worker radiation exposure limit was exceeded on the first of the nine tanks. As a solution to the high radiation environment of the TDS tanks, Westinghouse will provide and operate a pneumatically powered robotic crawler. This crawler traverses the bottom of the tank with a 4,000 psi high-pressure spray head affixed to the front of the crawler to blast sediment from the walls and floor of the TDS tanks. This paper will present the conceptual design of the TDS Tank cleaning system, noting the key benefits of specific components in the overall technology basis. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
Precision Control of a Slender High Payload 22 DoF Nuclear Robot System: TARM Re-ascending - 18346
The DEMO Remote Maintenance System (RMS) functional requirements represent a truly extreme environment. In the current design of the in-vessel RMS, blanket segment maintenance represents one of the most challenging tasks overall. As part of the JET (Joint European Torus) project, an ambitious 22 DoF transporter was created, the TARM (Telescopic Articulated Remote MAST). The TARM has been identified as a suitable test bed for the early development and verification of the control system and structural simulators. This paper outlines the development of the TARM into a multi-purpose test-rig for Precision Control of a Slender High Payload large DoF Nuclear Robot System. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
Engineering Scale Testing of Robotic Inspection Tools for Double Shell Tanks at Hanford - 18349
Waste found in the annulus of the AY-102 double-shell tank (DST) at Hanford has prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. During the last year, Florida International University (FIU) has been developing inspection tools that are capable of accessing the tank floors through the air supply line, the air refractory channels and the drain lines. This effort has led to the development of a pneumatic pipe crawler and a miniature rover. In this paper, updates to the inspection tool designs and the full scale testing of both systems are presented. The tools provide visual feedback for the operator, carrying with them onboard cameras and light sources. The images are streamed back live via a tether, which also provides power to the devices. To increase the sensing capabilities of both tools, temperature, humidity and radiation sensor modules are being integrated onto the developed systems, and can be interchanged depending on the inspection objectives. The miniature rover measures 7 cm in length and 3.8 cm in width, and travels upside down on the bottom of the tank to avoid debris accumulated in the channels. The video is also being processed real-time to provide control of the unit semi-autonomously. The pipe crawler measures approximately 76 cm in length and 6.4 cm in diameter, and travels using pneumatic actuators that emulate the peristaltic movement contractions typical of worm type robots. A full-scale sectional mock-up of the DST foundation, refractory system and annulus is currently being developed as a test-bed for the testing of the inspection tools. The intention of the test-bed is to demonstrate the viability of using both inspection tools in configurations similar to the actual tank. The test-bed includes a 2.43 m wide section of both tank liners, refractory channels and concrete foundation with drain slots. The test-bed is designed to be modular so that various plate thicknesses can be easily utilized and different refractory configurations can be incorporated. Currently, the refractory channels are of the tree type structure with turns that are approximately 30 degrees. Both inspection tools were demonstrated in the mock-up facility. The miniature rover ran successfully through the drain slots from the annulus to central plenum and had no issues making the 90-degree turns. The peristaltic crawler was able to navigate through the 7.62 cm air supply line from the annulus to the central plenum. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
R and DE Robotic Sensor Intern Team: Sensor Suite Mock Up Testing
Assess sensor suite performance: - Mounted on crawler typical to what would be used in tunnel; - In test bed simulating the tunnel environment. The SuperDroid fiber tethered LT-F crawler is a general-purpose surveillance robot that our team has refurbished as a testing platform for the sensor suite. This crawler was selected because its dimensions are similar to the actual crawler that will be deployed in the field. Crawler preparation included: - Communicating with vendor to resolve software and platform issues; - Configuring a laptop with the crawler control software; - Reconfiguration of communication protocol between computer and crawler; - Resolution of control board checksum errors; - Installation of a mounting fixture on the base; - In progress: addition of lighting needed for total darkness. A solution for hosting the selected sensors onto a single unit that could function standalone or be mounted on the crawler was needed. Sensor mount requirements included: - Host Lidar, panospheric cameras and IMU sensors; - Cable management for rotating Lidar; - House on-board crawler computer; - Method for affixing to crawler; - Robust and vibration proof. The Lidar sensor required a sturdy mount that ensured the axis of rotation be centered with the LiDAR's desired laser path and included a slender profile in order to not block the scanning FOV. The mounting plate holds two 180-degree cameras on either side and the servo on the center. The servo mount is located so the axis of rotation is in the center of the plate. The mount features a set of guides that hold the wires and ensure they wrap around the spool area properly. The sensor box design features thick walls for added strength, holes for mounting the sensor suite to the crawler, notches on the bottom for the different components and holes for cable routing and management. The sensor mounts were designed using CREO and printed in the R and DE Additive Manufacturing Lab. To test the performance of the sensor suite for our application it was desired to design and build a test bed simulating the H-Canyon tunnel environment. Requirements included: - Dimensions similar to the tunnel; - Wall surfaces simulating the eroded tunnel walls; - Complete darkness; - Even and uneven crawler path; - Ability to change the tunnel width to simulate erosion. The HCAEX tunnel changes in height and includes several bends ranging from approximately 30 to 80 degrees, for that reason a test bed capable of easily being changed was needed. The final design includes two sections that can be connected to provide a 16' tunnel or placed at an angle to create a tunnel bend. The test bed features caster wheels for easy movement and has a sliding inner wall that enables tunnel width to be controlled. In order to simulate the tunnel walls without adding a lot of weight to the test bed, sheets of faux stone are to be used on the inner walls. To create a completely dark tunnel, 100% black-out film will be draped over the tunnel structure. Carpet remnants in the lab will enable folds to be introduced in the floor to generate uneven surface data.
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
Latent Effects of Radiation on Li-ion Batteries in Robots
The rapid development of Li-ion batteries (LIBs) is due to their high energy-density storage capability, which makes them suitable for application in both vehicles (e.g., electrified car) and electronic devices (e.g., cell phone, laptop, etc.), which are currently ubiquitous. Another less common but important application of LIBs is the powering of equipment in extreme environments such as robots operating in a nuclear rescue mission, unmanned vehicles surveying environments exposed to radiation, or vehicles and probes for outer space exploration. In our previous study, coin cells with lithium metal serving as the reference and counter electrode were assembled with either an irradiated cathode or irradiated electrolyte. We have observed an increase in premature battery failure and degradation of capacity of the battery made from irradiated cathodes and battery made from the irradiated electrolyte. For the group with cathodes irradiated to a 9.8 Mrad cumulative dose, the resistance was 2-3 times higher than the control group. On the other hand, cells with irradiated electrolyte showed increased resistance even at very low dose levels. Most importantly, a significant color change to the irradiated electrolyte after a long-term storage in a glove box has been observed. However, the electrolyte did not show any noticeable change immediately after irradiation. We name this phenomenon latent effects, which is more significant than the damage received by batteries due to initial dose. Also, electrolyte irradiated to a medium dose (1.6 Mrad) showed a poorer performance (higher failure rate, higher resistance) than those cells which received high dose (5 Mrad). We attribute this to the latent effect because this group battery was unintentionally assembled 3 days after initial electrolyte irradiation. The existence of latent effects implies that in space missions or post-accident events, instruments equipped with LIBs may fail unpredictably at post-irradiation stages, even if they survive the initial dose or the performance tests conducted after the initial dose. These instruments may fail several days or even weeks after irradiation, depending on the initial cumulative dose and dosage rate. For comprehending the influence of latent effects on the entire battery instead of on the individual components, we performed an in-situ cycling of coin cells made in-house, where the batteries were cycled under irradiation and then cycled again to evaluate their overall capacity fade, cyclability, and cell resistance. Additionally we investigated the effects of battery fading due to radiation on the performance of a drone.
25 ENERGY STORAGE↗
Power Quality and Load Capacity Evaluations of an Electric Vehicle for Multi-Robot System Applications
This paper evaluates the capability of a fully electric pickup truck, using the Ford F-150 Lightning as an example, to provide power to the circuit of a multi-robot system. The case study was conducted on a simulated INL Autonomous Pit Exploration System (APES) designed for the inspection of nuclear waste tank pits. Through a series of controlled tests, the vehicle’s power delivery consistency, load-handling capability, and battery performance were assessed under various conditions. First of all, the load test demonstrated that the vehicle provided stable power with low distortion and no unexpected interruptions. Second, during the operational limit test, the 240V system sustained loads up to 7.4 kW before tripping, providing insights into its operational limits. Last but not least, during a simulated full-scale APES operation, the vehicle’s battery depleted by only 6% over an hour, indicating sufficient capacity for extended use while retaining reserve power for transportation needs. This study highlights the potential of electric vehicles as reliable power sources for field operations, contributing to the advancement of sustainable technologies by reducing reliance on traditional fossil fuel generators and promoting the integration of clean energy solutions in remote and challenging environments.
Electric vehicle↗
Percutaneous Radiofrequency Ablation Versus Robotic-Assisted Partial Nephrectomy for the Treatment of Small Renal Cell Carcinoma
IntroductionThe authors compared the oncologic outcomes of radiofrequency ablation (RFA) with robotic-assisted partial nephrectomy (RPN) for the treatment of T1 stage renal cell carcinoma (RCC).Materials and methodsThis was a retrospective data analysis of a high-volume single tertiary centre. Patients were treated with RFA or RPN following multidisciplinary decision making. Only histologically proven RCCs were included. Baseline demographics were collected, and PADUA scores of tumour features were calculated to standardize baseline anatomy. Peri-operative complications, kidney function and oncological outcomes were compared.ResultsSixty-three cases were included in each group. Baseline renal function was poorer in RFA, and 16/63 RFA patients had tumours in single kidneys compared to 1/63 RPN cases (p < 0.001). Length of stay was shorter in RFA (1 vs. 3 days, p < 0.0001). Post-procedure renal function decline at 30 days was significantly less in RFA [(−0.8) ± 9.6 vs. (−16.1) ± 19.5 mls/min/1.73 m{sup 2}; p < 0.0001]. More minor complications were recorded in RPN (10/63 vs. 4/63, p = 0.15), but local recurrence was numerically higher in RFA (6/63 vs. 1/63, p = 0.11). Disease-free survival (DFS) was not significantly different (adjusted HR = 0.6, 95 % Cl 0.1–3.7; p = 0.60). Increasing tumour size was an independent predictor of local recurrence (adjusted HR = 1.7; 95 % Cl 1.1–2.6 per cm; p = 0.02).ConclusionsBoth RPN and RFA offer very good oncological outcomes for the treatment of T1 RCC with low peri-operative morbidity and similar oncologic outcomes. RFA demonstrated fewer peri-operative complications and better preservation of renal function, whereas RPN had an insignificantly lower local recurrence rate. RFA should be offered alongside RPN for selected cases.
62 RADIOLOGY AND NUCLEAR MEDICINE↗