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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Automation of a Versatile Crane (the LSMS) for Lunar Outpost Construction, Maintenance and Inspection

Devices for lifting, translating and precisely placing payloads are critical for efficient Earth-based construction operations. Both recent and past studies have demonstrated that devices with similar functionality will be needed to support lunar outpost operations. Although several designs have been developed for Earth based applications, these devices lack unique design characteristics necessary for transport to and use on the harsh lunar surface. These design characteristics include: a) lightweight components, b) compact packaging for launch, c) automated deployment, d) simple in-field reconfiguration and repair, and e) support for tele-operated or automated operations. Also, because the cost to transport mass to the lunar surface is very high, the number of devices that can be dedicated to surface operations will be limited. Thus, in contrast to Earth-based construction, where many single-purpose devices dominate a construction site, a lunar outpost will require a limited number of versatile devices that provide operational benefit from initial construction through sustained operations. The first generation test-bed of a new high performance device, the Lunar Surface Manipulation System (LSMS) has been designed, built and field tested. The LSMS has many unique features resulting in a mass efficient solution to payload handling on the lunar surface. Typically, the LSMS device mass is estimated at approximately 3% of the mass of the heaviest payload lifted at the tip, or 1.8 % of the mass of the heaviest mass lifted at the elbow or mid-span of the boom for a high performance variant incorporating advanced structural components. Initial operational capabilities of the LSMS were successfully demonstrated during field tests at Moses Lake, Washington using a tele-operated approach. Joint angle sensors have been developed for the LSMS to improve operator situational awareness. These same sensors provide the necessary information to support fully automated operations, greatly expanding the operational versatility of the LSMS. This paper develops the equations describing the forward and inverse relation between LSMS joint angles and Cartesian coordinates of the LSMS tip. These equations allow a variety of schemes to be used to maneuver the LSMS to optimize the maneuver. One such scheme will be described in detail that eliminates undesirable swinging of the payload at the conclusion of a maneuver, even when the payload is suspended from a passive rigid link. The swinging is undesirable when performing precision maneuvers, such as aligning an object for mating or positioning a camera. Use of the equations described here enables automated control of the LSMS greatly improving its operational versatility.

Doggett, William R.↗
NASA NTRSDate not supplied

Safe Operational Envelope for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of long-reach cable-actuated robotic cranes. They are designed for planetary surface operations on the Moon and Mars. Their low structural weight and compact packaging reduces the fuel costs associated with space travel. The LSMS can be operated by humans, who can be on site or remotely, or autonomously. The goal of this research is to help human operators and path planning algorithms avoid unsafe states during operation. To this end, this work leverages a geometrical model of the LSMS and formulates a new dynamic model. These are later used to define the safe operational envelope for the LSMS family. The paper classifies the constraints that define the safe operational envelope in three groups: motor constraints, geometric constraints, and cable tension constraints. Keeping the cables under tension is necessary to maintain controllability over the joint angles. Two types of loss of tension events are identified for each of the cables. First, an excessive reel out of the cables can lead to a loss of tension, where the LSMS links behave like a pendulum. Second, an excessive reel in of the cables can lead to a link tip-over. This can cause a violent clash between the links on the LSMS. The paper visualizes these constraints for the LSMS-L35, the smallest robot within the family.

LSMS↗
NASA NTRSDate not supplied

LSMS–L35, Miniature Crane for Payload Offloading and Manipulation: Development, and Application

The Lightweight Surface Manipulation System (LSMS) is a robotic agent for autonomous surface construction activities on planetary surfaces, that was designed at NASA Langley Research Center and has over a decade of research and development. The LSMS is a key component to achieving many goals of the NASA Artemis program. The LSMS is lightweight, structurally efficient system that can be easily packaged for launch and deployment on-surface, capable of a suite of surface activities enabled by modular end-effectors at the wrist. The focus of recent development work has been on using the LSMS for payload offloading and handling from lunar landers. Discussed in the paper is the development of the LSMS-L35 hardware (35 kg wrist lifting capacity on the lunar surface), designed to integrate with a Commercial Lunar Payload Services (CLPS) lander to offload payloads to the surface. The LSMS-L35 hardware development is part of a larger effort to enable autonomous payload handling and manipulation.

Iok M. Wong↗
NASA NTRSDate not supplied

Performance Evaluation of a Cartesian Move Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of cable-actuated cranes, designed for surface operations on the Moon and Mars. Its structural design focuses on three fundamental traits for space environments: a high payload-to-mass ratio to reduce launch costs, compactness for space travel in reduced cargo bays, and self-erecting capabilities for operations before astronauts arrive. The resulting design confers nonlinear and switched dynamics to the LSMS, making these cranes an interesting challenge for autonomous and teleoperated applications. One of the protocols required for these applications is a Cartesian move algorithm. This algorithm is responsible for placing the end effector of the crane at a desired location, specified in Cartesian coordinates. This paper evaluates the performance of a Cartesian move algorithm developed for the LSMS at the NASA Langley Research Center. To this end, several payload manipulation tasks were performed with LSMS-L35, the smallest version within the LSMS family. The evaluated algorithm can place the end effector with accuracy, as shown in the hardware and simulation tests.

cable-actuated↗
NASA NTRS2024

A Trajectory-Tracking Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

trajectory tracking↗
NASA NTRS2024

A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Crane

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

lunar operations↗
DOE OSTI2017

LSMS

LSMS is a first principles, Density Functional theory based, electronic structure code targeted mainly at materials applications. LSMS calculates the local spin density approximation to the diagonal part of the electron Green's function. The electron/spin density and energy are easily determined once the Green's function is known. Linear scaling with system size is achieved in the LSMS by using several unique properties of the real space multiple scattering approach to the Green's function.

Eisenbach, Markus↗
DOE OSTI2021

FePt binary alloy with 32 atoms - LSMS-3 data

This dataset contains the estimate of atomic charge density, atomic magnetic moment and total energy for 32,000 configurations of the iron-platinum (FePt) binary alloy with body-centered cubic (BCC) structure. The configurations span all the compositions from 0%Fe - 100% Pt through 100%Fe - 0% Pt. The results have been produced running ab-initio density functional theory (DFT) calculations with the LSMS-3 code on OLCF supercomputer Titan. LSMS-3 GitHub repository: https://github.com/mstsuite/lsms Deep Learning research papers published with results based on this dataset: Fast and stable deep-learning predictions of material properties for solid solution alloys Massimiliano Lupo Pasini, Ying Wai Li, Junqi Yin, Jiaxin Zhang, Kipton Barros and Markus Eisenbach Published 14 December 2020 • © 2020 IOP Publishing Ltd Journal of Physics: Condensed Matter, Volume 33, Number 8 Citation Massimiliano Lupo Pasini et al 2021 J. Phys.: Condens. Matter 33 084005 https://iopscience.iop.org/article/10.1088/1361-648X/abcb10

36 MATERIALS SCIENCE↗
DOE OSTI2021

CuAu binary alloy with 32 atoms - LSMS-3 data

This dataset contains the estimate of atomic charge density, atomic magnetic moment and total energy for 32,000 configurations of the iron-platinum (CuAu) binary alloy with face-centered cubic (FCC) structure. The configurations span all the compositions from 0%Cu - 100% Au through 100%Cu - 0% Au. The results have been produced running ab-initio density functional theory (DFT) calculations with the LSMS-3 code on OLCF supercomputer Titan. LSMS-3 GitHub repository: https://github.com/mstsuite/lsms Deep Learning research papers published with results based on this dataset: Fast and stable deep-learning predictions of material properties for solid solution alloys Massimiliano Lupo Pasini, Ying Wai Li, Junqi Yin, Jiaxin Zhang, Kipton Barros and Markus Eisenbach Published 14 December 2020. 2020 IOP Publishing Ltd Journal of Physics: Condensed Matter, Volume 33, Number 8 Citation Massimiliano Lupo Pasini et al 2021 J. Phys.: Condens. Matter 33 084005 https://iopscience.iop.org/article/10.1088/1361-648X/abcb10

36 MATERIALS SCIENCE↗
NASA NTRSDate not supplied

Lightweight Surface Manipulation System (LSMS) Overview for Blue Origin

The Lightweight Surface Manipulation System is a long-reach, low mass, deployable manipulator, using design principles of structurally efficient commercial cranes, with the enhanced dexterity and multi-functionality of a robotic arm. This is a presentation given to Blue Origin on 08/21/20.

Thomas Carno Jones↗
NASA NTRSDate not supplied

LANDO: Developing Autonomous Payload Offloading Capabilities for Lunar Surface Operations

Introduction: The Lightweight Surface Manipulation System (LSMS) AutoNomy capabilities Development for surface Operations and construction (LANDO) project is an Early Career Initiative selected for funding by NASA Space Technology Mission Directorate. LANDO is developing a general-purpose autonomy framework applicable to serial and tension-actuated manipulation agents, that will be validated using an existing prototype of the LSMS-L35 (35-kg wrist lift capacity on the lunar surface [Fig. 1], sized for a Commercial Lunar Pay-load Services (CLPS) mission). The autonomous LSMS-L35 will be used to demonstrate autonomous payload handling capabilities for Lunar and other planetary surfaces, directly addressing STMD capability gaps in autonomous excavation and construction operations, advanced robotics and spacecraft autonomy technologies, and technologies supporting emerging space industries including the In-Space Servicing, Assembly and Manufacturing national strategy. LSMS: The LSMS is a tension actuated robotic agent that is scalable (reach and lifting capacity in different gravity environments), versatile (types of surface operations), and reusable. Compared to serial arms, the LSMS provides significantly higher structural efficiency and mechanical advantage, enabling a greater payload lift capacity at a lower system mass. The LSMS is envisioned to be a crucial part of the excavation and construction portfolio, capable of supporting a variety of activities on the lunar surface. Autonomous payload handling is one of the first activities the LSMS can support that develops capabilities that are extensible to other surface operations. Payload handling is required to: remove payloads from a lander; place payloads on mobile agents for transport from a lander to construction site/assembly point; emplace payloads in their operational configuration, and aggregate components to create an asset. As an example of this critical gap, manifested CLPS missions do not currently have a ubiquitous payload offloading capability; payloads (excluding rovers) are designed to remain on the lander. Why Autonomy? Autonomous robotic systems capable of carrying out excavation and construction operations are a fundamental and critical capability required for realizing the NASA Artemis program vision to “emplace and build the infrastructure, systems, and robotic missions that can enable a sustained lunar surface presence.” While teleoperation is still feasible for lunar surface operations, increased latency at Mars will require validated supervised autonomous technologies capable of operating with minimal human involvement (human-on-the-loop) unless an unexpected event occurs requiring human intervention. Autonomy reduces operator burden, allows operations to continue during uncrewed periods, in-creases the safety of operations by automatically detecting and handling faults, and allows operating in high latency environments. Development Activities: LANDO is extending critical autonomous operations to the manipulation domain and creating an integrated system, based on reusable software modules, that is capable of planning and executing payload handling and autonomous surface operations without requiring hu-man intervention beyond a supervisory role. The priority features under development are 1) autonomously offload payloads from a tilted lander deck without buckling the LSMS; 2) sensing whether a payload is safe to lift and handle; and 3) integrate with Astrobotic’s CLPS lander. The poster presentation will highlight current development activities over the past year on LSMS-L35 prototype hard-ware design, and autonomy software.

in-space assembly↗