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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 NTRSDate not supplied

Supervised Autonomous Assembly to Create and Evolve Persistent Assets

Supervised autonomous assembly (SAA) will create a paradigm shift in the planning and design of future persistent assets (PAs), both in near zero-g environments and on planetary surfaces. SAA refers to an autonomy approach that has the benefits of autonomous assembly as well as the benefits provided by a supervisor (operator) who is available to resolve unexpected situations. SAA provides both increased design freedom as well as reduced programmatic risk. SAA enables evolution of future PAs over decades as in-space operations transition from single purpose missions to creation of PAs, such as laboratories and experimental stations which more closely resembling terrestrial laboratories that can easily adapt and evolve to new missions leveraging repeated visits to the PA. The ability to evolve enables PAs to rapidly respond to changing objectives resulting from new questions as our understanding improves. A recently initiated National Aeronautics and Space Administration (NASA) project in the Space Technology Mission Directorate (STMD) Game Changing Development (GCD) Program called the Precision Assembled Space Structure (PASS), leverages the advantages of SAA to develop technologies that enable efficient creation and evolution of hexagonal topologies; both planar (example: fuel depots) and curved (examples: telescopes and shelters). PASS will be used to provide context for the philosophy and concepts discussed as well as the decision and selections made. PASS objectives are: a) Develop confidence in SAA and on-orbit servicing, assembly and manufacturing (OSAM) technologies by executing a test campaign that uses a path-to-flight autonomous precision assembly process directly applicable to future space telescopes. b) Test autonomous technologies including automated path planning and error recovery, to emphasize a robust approach that relies on generic robots and special purpose tools. c) Validate critical component models using a digital twin that includes the assembled primary mirror support structure and assembly process. A digital twin is a high-fidelity simulation of the asset capable of predicting the on-orbit performance. The paper concludes after identifying the critical need for a modest assembly flight experiment to validate and develop confidence in the SAA paradigm, thus accelerating adoption of the benefits described. SAA is a game changing paradigm that enhances the ability of an organization to infuse new technology through rapid evolution of PAs while leveraging OSAM technologies.

Structural Modeling↗
NASA NTRS2005

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

The fulfillment of the new US. National Vision for Space Exploration requires many new enabling technologies to accomplish the goal of utilizing space for commercial activities and for returning humans to the moon and extraterrestrial environments. Traditionally, flight structures are manufactured as complete systems and require humans to complete the integration and assembly in orbit. These structures are bulky and require the use of heavy launch vehicles to send the units to the desired location, e.g. International Space Station (ISS). This method requires a high degree of safety, numerous space walks and significant cost for the humans to perform the assembly in orbit. For example, for assembly and maintenance of the ISS, 52 Extravehicular Activities (EVA's) have been performed so far with a total EVA time of approximately 322 hours. Sixteen (16) shuttle flights haw been to the ISS to perform these activities with an approximate cost of $450M per mission. For future space missions, costs have to be reduced to reasonably achieve the exploration goals. One concept that has been proposed is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly operations. Assembly is autonomously performed when two components containing onboard electronics join after recognizing that the joint is appropriate and in the precise position and orientation required for assembly. The mechanism only activates when the specifications are correct and m a nominal range. After assembly, local sensors and electronics monitor the integrity of the joint for feedback to a master controller. To achieve this concept will require a shift in the methods for designing space structures. In addition, innovative techniques will be required to perform the assembly autonomously. Monitoring of the assembled joint will be necessary for safety and structural integrity. If a very large structure is to be assembled in orbit, then the number of integrity sensors will be significant. Thus simple, low cost sensors are integral to the success of this concept. This paper will address these issues and will propose a novel concept for assembling space structures autonomously. The paper will present Several autonomous assembly methods. Core technologies required to achieve in space assembly will be discussed and novel techniques for communicating, sensing, docking and assembly will be detailed. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Finally, these technologies can also be applied to other systems both on earth and extraterrestrial environments.

Alhorn, Dean C.↗
NASA NTRS2023

Tall Lunar Tower: An Autonomously Assembled Tower for Early Lunar Infrastructure

The Tall Lunar Tower (TLT) In-Space Assembly (ISA) team aims to design, model, fabricate, autonomously assemble, and characterize a TLT engineering development unit (EDU). The autonomous assembly of a tower also demonstrates a cross-cutting technology that can be applied to other lunar structures, such as blast shields, radiation shelters, and safe havens.

In-Space Assembly↗
NASA NTRS2005

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete subsystems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Alhorn, Dean C.↗
NASA NTRS2015

On-Orbit Autonomous Assembly from Nanosatellites

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

Precision relative navigation↗
NASA NTRSDate not supplied

Software Design for the Supervised Autonomous Assembly of a Tall Lunar Tower

Tall towers enable a wide-ranging set of capabilities on the lunar surface including communication, navigation, surveillance, power generation, and more. The Tall Lunar Tower project at NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of an engineering development unit to assemble a tall tower through supervised autonomous operations. In this paper, the software design for the supervised autonomous assembly of a tall lunar tower is presented. The paper includes a high-level description of the concept of operations, the agents, and an overview of the software architecture.

Moon↗
NASA NTRS2023

Software Design for the Supervised Autonomous Assembly of a Tall Lunar Tower Presentation

Tall towers enable a wide-ranging set of capabilities on the lunar surface including communication, navigation, surveillance, power generation, and more. The Tall Lunar Tower project at NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of an engineering development unit to assemble a tall tower through supervised autonomous operations. In this paper, the software design for the supervised autonomous assembly of a tall lunar tower is presented. The paper includes a high-level description of the concept of operations, the agents, and an overview of the software architecture.

TLT↗
DOE OSTI2024

Six degrees of freedom compliant flexure and autonomous assembly using same

A flexure having six degrees of freedom is disclosed. The constraint and compliance of the flexure in all six degrees of freedom may be independently tuned for an application. The flexure may include various combinations of sections including, for example, straight arm and curvilinear sections. The constraint and compliance of the flexure is determined by the geometry, cross-sectional area, cross-sectional shape, and material used to form the various sections. A coupling mechanism and a corresponding method for using the coupling mechanism for automated or autonomous assembly of elements using tuned flexures is disclosed. The automated or autonomous assembly of elements employs a coupling mechanism having a motor driven grip and a coupler, in which the coupler includes a six degrees of freedom flexure. The motor driven grip and coupler may optionally include electrical or optical interconnections and self-aligning features.

Gillund, Daniel Paul↗
NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.

test↗
NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.

test↗
NASA NTRS2017

Preliminary GN&C Design for the On-Orbit Autonomous Assembly of Nanosatellite Demonstration Mission

Small spacecraft autonomous rendezvous and docking (ARD) is an essential technology for future space structure assembly missions. The On-orbit Autonomous Assembly of Nanosatellites (OAAN) team at NASA Langley Research Center (LaRC) intends to demonstrate the technology to autonomously dock two nanosatellites to form an integrated system. The team has developed a novel magnetic capture and latching mechanism that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the CubeSats, but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. Prior to demonstrating the docking subsystem capabilities on orbit, the GN&C subsystem should have a robust design such that it is capable of bringing the CubeSats from an arbitrary initial separation distance of as many as a few thousand kilometers down to a few meters. The main OAAN Mission can be separated into the following phases: 1) Launch, checkout, and drift, 2) Far-Field Rendezvous or Drift Recovery, 3) Proximity Operations, 4) Docking. This paper discusses the preliminary GN&C design and simulation results for each phase of the mission.

Pei, Jing↗
NASA NTRSDate not supplied

SOLL-E: A Module Transport and Placement Robot for Autonomous Assembly of Discrete Lattice Structures

This paper presents the design and development of a transport and placement robot that demonstrates autonomous assembly of structural building blocks. The robots are intended to serve as a critical component of automated structural assembly and maintenance systems. The Scaling Omni-directional Lattice Locomoting Explorer (SOLL-E) uses a 5-DoF bipedal inchworm locomotion architecture with locking foot and cargo grippers. The locomotion system employs large magnet gap diameter BLDC motors with moderate timing belt gearing for primary joints, and DC planetary gearmotors for turning. Foot and cargo grippers are identical, with servo-actuated locking mechanisms. Three modular controller boards are used to control these actuators in real-time, with command and telemetry data transferred between the server and each controller board via WiFi. Functionality and performance were evaluated in a ground demonstration.

robotics↗
NASA NTRS2010

Evolving Systems: Adaptive Key Component Control and Inheritance of Passivity and Dissipativity

We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. Autonomous assembly of large, complex flexible structures in space is a target application for Evolving Systems. A critical requirement for autonomous assembling structures is that they remain stable during and after assembly. The fundamental topic of inheritance of stability, dissipativity, and passivity in Evolving Systems is the primary focus of this research. In this paper, we develop an adaptive key component controller to restore stability in Nonlinear Evolving Systems that would otherwise fail to inherit the stability traits of their components. We provide sufficient conditions for the use of this novel control method and demonstrate its use on an illustrative example.

Frost, S. A.↗
NASA NTRS2009

Evolving Systems and Adaptive Key Component Control

We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. An introduction to Evolving Systems and exploration of the essential topics of the control and stability properties of Evolving Systems is provided. This chapter defines a framework for Evolving Systems, develops theory and control solutions for fundamental characteristics of Evolving Systems, and provides illustrative examples of Evolving Systems and their control with adaptive key component controllers.

Frost, Susan A.↗