Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “ROBOT”

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 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Robotics for HVAC applications: A critical review and future perspectives

Recent advances in artificial intelligence (AI), enhanced computational capabilities, and innovations in sensors and hardware have driven the increasing development and application of robots in heating, ventilation, and air conditioning (HVAC) systems. We selected and reviewed 101 studies published between 2005 and 2025, sourced from IEEE Xplore, Scopus, Web of Science, and the ACM Digital Library. To analyze these works, we developed a five-dimensional analytical framework (morphology, sensing, navigation, task execution, and system integration), inspired by the Springer Handbook of Robotics and tailored specifically for robotic applications in HVAC. Based on the reviewed studies, six distinct tasks spanning the entire HVAC lifecycle have been identified. Among the six tasks, inspection and maintenance dominate (59 %), followed by indoor monitoring and auditing (21 %), whereas leakage detection, comfort support, and installation/retrofit remain less explored. To address the identified gaps, this review proposes future research directions including investigating robot-aware HVAC design principles, developing multimodal HVAC sensing and data fusion techniques, enhancing robot training and hardware capabilities, and expanding robotic applications beyond Maintenance and Operations (M&O). The findings from this review inform future robotics research for HVAC applications and ultimately enhance system affordability, energy efficiency, resilience or reliability, and occupant environmental comfort. Moreover, it seeks to inspire researchers to explore the intersections of robotics, computer science, building science, and HVAC engineering fostering advancements in this multidisciplinary field.

AI↗
DOE OSTI2022

Review on robot-assisted polishing: Status and future trends

Nowadays, precision components have been extensively used in various industries such as biomedicine, photonics, and optics. To achieve nanometric surface roughness, high-precision polishing is mandatory. Compared with the conventional polishing techniques, the robot-assisted polishing has the advantages of flexible working ranges and low cost. Therefore, it has been more widely deployed in demanding polishing tasks. However, few review articles were found on this topic to provide a general progress on the development of the robot-assisted polishing technology. Here in this paper reviews the recent advancement of the robot-assisted polishing. Firstly, the integration of robots with various polishing techniques is overviewed, followed by the introduction of the research status of constant force control in robot-assisted polishing. Then, the errors in typical robot-assisted polishing systems are analyzed, together with the corresponding compensation methods. At last, the future trends in the development of robot-assisted polishing are discussed. This review is intended as a roadmap for researchers or engineers who are interested in robot-assisted polishing or machining.

36 MATERIALS SCIENCE↗
NASA NTRS2014

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

Exploration↗
NASA NTRS2013

Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

BioSleeve↗
NASA NTRS2015

Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

Regolith↗
NASA NTRS2017

BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures

We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.

Aeronautics↗
NASA NTRS2017

A Mobile Robot for Locomotion Through a 3D Periodic Lattice Environment

This paper describes a novel class of robots specifically adapted to climb periodic lattices, which we call 'Relative Robots'. These robots use the regularity of the structure to simplify the path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. They can perform vital inspection and repair tasks within the structure that larger truss construction robots could not perform without modifying the structure. We detail a specific type of relative robot designed to traverse a cuboctahedral (CubOct) cellular solids lattice, show how the symmetries of the lattice simplify the design, and test these design methodologies with a CubOct relative robot that traverses a 76.2 mm (3 in.) pitch lattice, MOJO (Multi-Objective JOurneying robot). We perform three locomotion tasks with MOJO: vertical climbing, horizontal climbing, and turning, and find that, due to changes in the orientation of the robot relative to the gravity vector, the success rate of vertical and horizontal climbing is significantly different.

Aeronautics↗
DOE OSTI2017

Towards Cooperative Control of Humanoid Robots for Handling High-Consequence Materials in Gloveboxes - 17291

In this paper, we describe our ongoing work with NASA's Valkyrie humanoid robot and present preliminary results on cooperative control of Valkyrie's hands for performing dexterous manipulation tasks inside gloveboxes commonly found in many nuclear facilities. First, we discuss our human-supervised robot control framework which is based on optimization-based whole-body motion and manipulation controllers. A key aspect of this approach is perception based grasping. We develop a grasping control module for realizing the grasps corresponding to sample tasks such as power, ball, key, pinch, and open palm grasps and their variations. Next, we introduce the notion of motion template library in order to develop generalizable robot grasping and manipulation. Motion template library stores the constraint setting information for the constrained motion planning methods and a framework which can implement the motion template library on different types of robots for accomplishing similar tasks. Motion templates are defined only based on the task requirements. As a result, they can be easily ported to different robot platforms. Lastly, we discuss our multi-modal interfaces designs which include a visual display for improved situational awareness as well as a tactile glove for robot hand control and feedback. Our goal is for the person tele-operating the Valkyrie robot to have better sensing and control than what he or she would have if actually standing at the glovebox doing the work. This improved sensing is comprised of the ability to 'see through' the robot's arms and hands in the gloves and to have an improved sense of touch. The paper concludes with a discussion of our validation strategy. Our success metrics are derived from the completion of a relatively complex experiment to be performed in the glovebox. We evaluate various realistic experiments and use them for task validation and demonstration with Valkyrie. We use speed, time of completion, accuracy, repeatability and reliability rates as success metrics by designing replicable experiments. (authors)

42 ENGINEERING↗
DOE OSTI2018

Remotely Teleoperating a Humanoid Robot to Perform Fine Motor Tasks with Virtual Reality - 18446

In this paper, we describe our ongoing work to develop cooperative control of NASA's R5 Valkyrie humanoid robot for performing dexterous manipulation tasks inside gloveboxes commonly found in many nuclear facilities. These tasks can be physically demanding and provide some element of risk to the operator when done by a person in situ. For example, if a glove is ruptured, the operator could be exposed to radioactive material. In many cases, the operator has low visibility and is unable to reach the entire task space, requiring the use of additional tools located inside the glovebox. Such tasks include cleaning particulate from inside the glovebox via sweeping or vacuuming, separating a specific amount of a compound to be weighed on a scale, or grasping and manipulating objects inside the glovebox. There is potential to move the operator to a nearby, safe location and instead place a humanoid robot in the potentially hazardous environment. However, teleoperating a humanoid robot to perform dexterous tasks at a comparable level to a human hand remains a difficult problem. Previous work for controlling humanoid robots often involves one or more operators using a standard 2D display with a mouse and keyboard as controllers. Successful interfaces use sensor fusion to provide information to the operator for increased situation awareness, but these designs have limitations. Gaining proper situation awareness by visualizing 3D information on a 2D screen requires time and increases the cognitive load on the user. Instead, if the operator is able to visualize and control the robot properly in three dimensions, it can increase situation and task awareness, reduce task time, reduce the chance of mistakes, and increase the likelihood of overall task success. We propose a two-part system that combines an HTC Vive virtual reality headset with either the Vive handheld controllers, or the Manus VR wearable gloves as the primary control. The operator wears the headset in a remote location and can visualize a reconstruction of the glovebox, created live by sensor scans from the robot and with sensors located inside the glovebox for a perspective traditionally unavailable to operators. By using the controllers or gloves to control the humanoid robots hands directly, they can plan actions in the virtual reconstruction. When the operator is satisfied with the plan, the actions are sent to the real robot. To test this system we have created a mockup of a glovebox that is accessible by Valkyrie, as well as several tasks that are a subsample of the tasks that might be required when working in a real glovebox. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622

Robotic systems hold the potential to significantly reduce exposure of workers to hazardous environments such as in the deactivation and decommissioning (D and D) of nuclear facilities. Our goal is to enable an operator with minimal training to easily control a remote dual-arm robot to perform demolition tasks with hand tools. We propose a system that combines semi-autonomous coordination of the robot's arms with an intuitive operator interface based on virtual reality (VR) technology. A limb coordination system enables independent control of the robot arms, as well as coupled motion required to hold and manipulate rigid bodies such as reciprocating saws, angle grinders and crow bars. Using a VR head mounted display and stereo video from the robot for situational awareness and tracked VR hand controllers to command robot arm movement, an operator will be able to walk up to the control console, pick up the controllers, engage the manipulators, fly the grippers, grasp a tool with one or both robot arms and easily move them in unison to perform tasks. We present preliminary results using simulation and a physical dual-arm platform based on the Johns Hopkins University Applied Physics Laboratory's Modular Prosthetic Limb, an anthropomorphic device that provides hyper-dexterous human-like manipulation capabilities. Anticipated benefits of the robotic system for D and D operations include improved situational awareness, increased mission complexity, and reduced operator training time, workload, and task execution times. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Panel Session 94: Nuclear and Industrial Robotics, Remote Systems and Emerging Technologies

This panel focused on the use and benefits of robotics in different nuclear environments. Examples of robotics deployed in nuclear environments that come from industry, academia, and the government were presented. It is through these varying perspectives that the panel participants will show the breath of nuclear robotics used across the world. Presentations proposed include: 1 - Robotics and Emerging Technologies at Assystem (Fanny Fouin, Assystem Energy and Infrastructure (United Kingdom)); 2 - An Undergraduate Perspective (Michael DiBono, Applied Research Center - FIU (USA)); 3 - US-ROK International Collaboration on Robotics and Remote Systems for D and D of NPPs (Young Soo Park, Argonne National Laboratory (USA)); 4 - EM's Historical Engagement with Robotics and Universities (Genia McKinley, US DOE (USA)); 5 - Robotic Systems for Environmental Remediation Applications (Leonel Lagos, Applied Research Center - FIU (USA)); 6 - Remote and Nuclear Challenges and Solutions at the Savannah River Site - SRS (Jean Plummer, Savannah River National Laboratory (USA)); 7 - Nuclear and Industrial Robotics, Remote Systems and Emerging Technologies Challenges, Opportunities and Prognostications (Kim 'KD' Auclair, KD Auclair and Associates LLC (USA))

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

A Robot for Nondestructive Assay of Holdup Deposits in Gaseous Diffusion Piping - 19504

Miles of contaminated pipe must be characterized as part of the decommissioning effort at deactivated gaseous diffusion enrichment facilities. The current method requires cutting away asbestos- lined thermal enclosures and performing repeated, elevated operations to manually perform nondestructive assay (NDA) on pipe from the outside. The RadPiper robot, part of the Pipe Crawling Activity Measurement System (PCAMS) developed by Carnegie Mellon University and commissioned for use at the DOE Portsmouth Gaseous Diffusion Enrichment Facility, automatically measures U-235 in pipes from the inside. This improves certainty, increases safety, and greatly reduces measurement time. The heart of the RadPiper robot is a sodium iodide scintillation detector in an innovative disc-collimated assembly. By measuring from inside pipes, the robot significantly increases its count rate relative to external through-pipe measurements. The robot also provides imagery, models interior pipe geometry, and precisely measures distance in order to localize radiation measurements. Data collected by this system provides insight into pipe interiors that is simply not possible from exterior measurements, all while keeping operators safer. This paper describes the technical details of the PCAMS RadPiper robot. Key features for this robot include precision distance measurement, in-pipe obstacle detection, ability to transform for two pipe sizes, and robustness in autonomous operation. Test results demonstrating the robot's functionality are presented, including deployment tolerance tests, safeguarding tests, and localization tests. Integrated robot tests are also shown. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Nematic Colloidal Micro‐Robots as Physically Intelligent Systems

Abstract Physically intelligent micro‐robotic systems exploit information embedded in micro‐robots, their colloidal cargo, and their milieu to interact, assemble, and form functional structures. Nonlinear anisotropic fluids such as nematic liquid crystals (NLCs) provide untapped opportunities to embed interactions via their topological defects, complex elastic responses, and ability to dramatically restructure in dynamic settings. Here a four‐armed ferromagnetic micro‐robot is designed and fabricated to embed and dynamically reconfigure information in the nematic director field, generating a suite of physical interactions for cargo manipulation. The micro‐robot shape and surface chemistry are designed to generate a nemato‐elastic energy landscape in the domain that defines multiple modes of emergent, bottom‐up interactions with passive colloids. Micro‐robot rotation expands the ability to sculpt interactions; the energy landscape around a rotating micro‐robot is dynamically reconfigured by complex far‐from‐equilibrium dynamics of the micro‐robot's companion topological defect. These defect dynamics allow transient information to be programmed into the domain and exploited. Robust micro‐robotic manipulation strategies are demonstrated that exploit these diverse modes of nemato‐elastic interaction to achieve cargo docking, transport, release, and assembly of complex reconfigurable structures at multi‐stable sites. Such structures are of great interest to future developments of LC‐based advanced optical device and micro‐manufacturing in anisotropic environments.

Yao, Tianyi↗
DOE OSTI2017

Automating High-Precision X-Ray and Neutron Imaging Applications with Robotics

Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. In conclusion, this paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1987

Knowledge representation system for assembly using robots

Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot.

Jain, A.↗
NASA NTRS1989

Determining robot actions for tasks requiring sensor interaction

The performance of non-trivial tasks by a mobile robot has been a long term objective of robotic research. One of the major stumbling blocks to this goal is the conversion of the high-level planning goals and commands into the actuator and sensor processing controls. In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot's actuators. Most non-trivial tasks require the robot to interact with its environment; thus necessitating coordination of sensor processing and actuator control to accomplish the task. The main contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. It is proposed to produce the detailed plan of primitive actions by using a collection of low-level planning components that contain domain specific knowledge and knowledge about the available sensors, actuators, and sensor/actuator processing. This collection will perform signal and control processing as well as serve as a control interface between an actual mobile robot and a high-level planning system. Previous research has shown the usefulness of high-level planning systems to plan the coordination of activities such to achieve a goal, but none have been fully applied to actual mobile robots due to the complexity of interacting with sensors and actuators. This control interface is currently being implemented on a LABMATE mobile robot connected to a SUN workstation and will be developed such to enable the LABMATE to perform non-trivial, sensor-intensive tasks as specified by a planning system.

Budenske, John↗
NASA NTRS1991

Navigation strategies for multiple autonomous mobile robots moving in formation

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Wang, P. K. C.↗
NASA NTRS1992

The ROMPS robot in HitchHiker

The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

Voellmer, George↗