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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Key technology issues for space robotic systems

Robotics has become a key technology consideration for the Space Station project to enable enhanced crew productivity and to maximize safety. There are many robotic functions currently being studied, including Space Station assembly, repair, and maintenance as well as satellite refurbishment, repair, and retrieval. Another area of concern is that of providing ground based experimenters with a natural interface that they might directly interact with their hardware onboard the Space Station or ancillary spacecraft. The state of the technology is such that the above functions are feasible; however, considerable development work is required for operation in this gravity-free vacuum environment. Furthermore, a program plan is evolving within NASA that will capitalize on recent government, university, and industrial robotics research and development (R and D) accomplishments. A brief summary is presented of the primary technology issues and physical examples are provided of the state of the technology for the initial operational capability (IOC) system as well as for the eventual final operational capability (FOC) Space Station.

Schappell, Roger T.↗
NASA NTRS1994

Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservations can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed the following topics: (1) vision systems integration and architecture; (2) selective perception and human robot interaction; (3) robotic systems technology; (4) military and other field applications; (5) dual-use precommercial robotic technology; (6) building operations; (7) planetary exploration applications; (8) planning; (9) new directions in robotics; and (10) commercialization.

Erickson, Jon D.↗
DOE OSTI2026

ARCH Technology Snapshot Autonomous Robot Control Hierarchy (ARCH): A universal software system that removes the need to rebuild robotic software for every new platform or task

Robots are increasingly used to perform repetitive, hazardous, and time-sensitive tasks, improving safety and operational efficiency. However, most robotic systems remain difficult to adapt because they are tightly tied to specific hardware and require extensive reprogramming for each new configuration.

42 ENGINEERING↗
NASA NTRS2008

Robotics Offer Newfound Surgical Capabilities

Barrett Technology Inc., of Cambridge, Massachusetts, completed three Phase II Small Business Innovation Research (SBIR) contracts with Johnson Space Center, during which the company developed and commercialized three core technologies: a robotic arm, a hand that functions atop the arm, and a motor driver to operate the robotics. Among many industry uses, recently, an adaptation of the arm has been cleared by the U.S. Food and Drug Administration (FDA) for use in a minimally invasive knee surgery procedure, where its precision control makes it ideal for inserting a very small implant.

Source record↗
NASA NTRS2012

Motion Imagery and Robotics Application (MIRA): Standards-Based Robotics

This technology development originated from the need to assess the debris threat resulting from soil material erosion induced by landing spacecraft rocket plume impingement on extraterrestrial planetary surfaces. The impact of soil debris was observed to be highly detrimental during NASA s Apollo lunar missions and will pose a threat for any future landings on the Moon, Mars, and other exploration targets. The innovation developed under this program provides a simulation tool that combines modeling of the diverse disciplines of rocket plume impingement gas dynamics, granular soil material liberation, and soil debris particle kinetics into one unified simulation system. The Unified Flow Solver (UFS) developed by CFDRC enabled the efficient, seamless simulation of mixed continuum and rarefied rocket plume flow utilizing a novel direct numerical simulation technique of the Boltzmann gas dynamics equation. The characteristics of the soil granular material response and modeling of the erosion and liberation processes were enabled through novel first principle-based granular mechanics models developed by the University of Florida specifically for the highly irregularly shaped and cohesive lunar regolith material. These tools were integrated into a unique simulation system that accounts for all relevant physics aspects: (1) Modeling of spacecraft rocket plume impingement flow under lunar vacuum environment resulting in a mixed continuum and rarefied flow; (2) Modeling of lunar soil characteristics to capture soil-specific effects of particle size and shape composition, soil layer cohesion and granular flow physics; and (3) Accurate tracking of soil-borne debris particles beginning with aerodynamically driven motion inside the plume to purely ballistic motion in lunar far field conditions.

Martinez, Lindolfo↗
NASA NTRS1990

Reaction-compensation technology for microgravity laboratory robots

Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.

Rohn, Douglas A.↗
NASA NTRS1990

Reaction-compensation technology for microgravity laboratory robots

Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.

Rohn, Douglas A.↗
NASA NTRS2004

Special Purpose Crew Restraints for Teleoperation

With permanent human presence onboard the International Space Station (ISS), and long duration space missions being planned for the moon and Mars, humans will be living and working in microgravity over increasingly long periods of time. In addition to weightlessness, the confined nature of a spacecraft environment results in ergonomic challenges such as limited visibility, and access to the activity area. These challenges can result in prolonged periods of unnatural postures for the crew, ultimately causing pain, injury, and loss of productivity. Determining the right set of human factors requirements and providing an ergonomically designed environment is crucial to mission success. While a number of general purpose restraints have been used on ISS (handrails, foot loops), experience has shown that these general purpose restraints may not be optimal, or even acceptable for some tasks that have unique requirements. For example, some onboard activities require extreme stability (e.g., glovebox microsurgery), and others involve the use of arm, torso and foot movements in order to perform the task (e-g. robotic teleoperation); standard restraint systems will not work in these situations. The Usability Testing and Analysis Facility (WAF) at the NASA Johnson Space Center began evaluations of crew restraints for these special situations by looking at NASAs Robonaut. Developed by the Robot Systems Technology Branch, Robonaut is a humanoid robot that can be remotely operated through a tetepresence control system by an operator. It was designed to perform work in hazardous environments (e.g., Extra Vehicular Activities). A Robonaut restraint was designed, modeled for the population, and ultimately tested onboard the KC-135 microgravity aircraft. While in microgravity, participants were asked to get in and out of the restraint from different locations, perform maximum reach exercises, and finally to teleoperate Robonaut while in the restraint. The sessions were videotaped, and participants completed a questionnaire at the end of each flight day. Results from this evaluation are being used to develop the human factors design requirements for teleoperation tasks in microgravity.

Whitmore, Mihriban↗
NASA NTRS1990

Advanced robotics for in-space vehicle processing

An analysis of spaceborne vehicle processing is described. Generic crew-extravehicular activity tasks are presented for a specific vehicle, the orbital maneuvering vehicle (OMV), with general implications to other on-orbit vehicles. The OMV is examined with respect to both servicing and maintenance. Crew-EVA activities are presented by task and mapped to a common set of generic crew-EVA primitives to identify high-demand areas for robot services. Similarly, a set of robot primitives is presented that can be used to model robot actions for alternative robot reference configurations. The robot primitives are tied to technologies and used for composing robot operations for an automated refueling scenario. Robotics technology issues and design accommodation guidelines (hooks and scars) for Space Station Freedom are described.

Smith, Jeffrey H.↗
NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗
NASA NTRS2013

SpiderFab(TradeMark):Process for On-Orbit Construction of Kilometer-Scale Apertures

The SpiderFab effort investigated the value proposition and technical feasibility of radically changing the way we build and deploy spacecraft by enabling space systems to fabricate and integrate key components on-orbit. Weeveloped an architecture for a SpiderFab system, identifying the key capabilities, and detailed two concept implementations of this architecture, one specialized for fabricating support trusses for large solar arrays, and the second a robotic system capable of fabricating spacecraft components such as antenna reflectors. We then performed analyses to evaluate the value proposition for on-­orbit fabrication, and in each case found that the dramatic improvements in structural performance and packing efficiency enabled by on-orbit fabrication can provide order-of-magnitude improvements in key system metrics. For phased-­‐array radars, SpiderFab enables order-­of-­magnitude increases in gain-per-stowed-volume. For the New Worlds Observer mission, SpiderFab construction of a starshade can provide a ten-fold increase in the number of Earth-like planets discovered per dollar. For communications systems, SpiderFab can change the cost equation for large antenna reflectors, enabling affordable deployment of much larger apertures than feasible with current deployable technologies. To establish the technical feasibility, we identified methods for combining several additive manufacturing technologies with robotic assembly technologies, metrology sensors, and thermal control techniques to provide the capabilities required to implement a SpiderFab system. We performed proof-­of-concept level testing of these approaches, in each case demonstrating that the proposed solutions are feasible, and establishing the SpiderFab architecture at TRL-3. Further maturation of SpiderFab to mission-readiness is well-suited to an incremental development program. Affordable smallsat demonstrations will prepare the technology for full-scale demonstration that will unlock the full potential of the SpiderFab architecture by flight qualifying and validating an on-orbit fabrication and integration process that can be re-used to reduce the life-cycle cost and increase power, bandwidth, resolution, and sensitivity for a wide range of NASA Science and Exploration missions.

Hoyt, Robert↗
NASA NTRS1973

A survey study of teleoperators, robotics, and remote systems technology.

Survey of the current status and major R&D needs of remote systems technology in the medical, mining, and oceanographic areas of application. The review is limited to the most important teleoperator/robotic subsystems, including actuators, sensors, control and communication devices.

Alexander, A. D., III↗
NASA NTRS1994

A force-controllable macro-micro manipulator and its application to medical robots

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

Marzwell, Neville I.↗