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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Controlling Tensegrity Robots through Evolution using Friction based Actuation

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

Tensegrit↗
NASA NTRS2018

Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with a curator; other potential future returned samples may require cryogenic curation. Robot arms may be combined with high resolution cameras within a sample cabinet and controlled remotely by curator. Sophisticated robot arm and hand combination systems can be programmed to mimic the movements of a curator wearing a data glove; successful implementation of such a system may ultimately allow a curator to virtually operate in a nitrogen, cryogenic, or biologically sensitive environment with dexterity comparable to that of a curator physically handling samples in a glove box.

Snead, C. J.↗
NASA NTRS2020

Modeling and Control of Robot-Structure Coupling During In-Space Structure Assembly

This paper considers the problem of robot-structure coupling dynamics during in-space robotic assembly of large flexible structures. A two-legged walking robot is used as a construction agent, whose primary goal is to stably walking on the flexible structure while carrying a substructure component to a designated location. The reaction forces inserted by the structure to the walking robot are treated as bounded disturbance inputs, and a trajectory tracking robotic controller is proposed that combines the standard full state feedback motion controller and an adaptive controller to account for the disturbance inputs. In this study, a reduced-order Euler-Bernoulli beam structure model is adapted, and a finite number of co-located sensors and actuators are distributed along the span of the beam structure. The robot-structure coupling forces are treated as a bounded external forcing function to the structure, and hence an output covariance constraint problem can be formulated, in terms of linear matrix inequality, for optimal structure control by utilizing the direct output feedback controllers. The numerical simulations show the effectiveness of the proposed robot-structure modeling and control methodology.

Swei, Sean↗
NASA NTRSDate not supplied

Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission

The Robotic Refueling Mission (RRM) was a multi-phased technology development effort by the National Aeronautics & Space Administration (NASA) and the Canadian Space Agency (CSA). The program leveraged the existing robotic systems and expertise of the International Space Station (ISS) program and the tool design and satellite servicing expertise of NASA’s Exploration & In-space Services (NExIS) Projects Division at Goddard Space Flight Center (GSFC) to evaluate new hardware and techniques for on-orbit telerobotic servicing. Between 2011 and 2021, two external ISS payloads housed over a dozen robotic tools and adapters designed to service a variety of existing and novel satellite interfaces. Robot operators at NASA’s Johnson Space Center (JSC) and CSA used the Special Purpose Dexterous Manipulator (SPDM) to retrieve and operate these tools for tasks such as cutting wires or multi-layer insulation blanketing, removing valve caps, mating electrical connectors, transferring fluids, and performing visual inspections inside a vehicle. Each phase of RRM involved years of preparation. Tool and interface designs were prototyped and evaluated using both NASA and Canadian ground robotic systems. Procedures were developed by GSFC engineers and vetted in partnership with JSC and CSA robot operators. GSFC engineers were trained to provide real-time support during on-orbit operations. These preparatory efforts and the successful on-orbit evaluations yielded an array of lessons for future in-space telerobotic missions. Designing robotic tools for the space environment requires special consideration of materials, indicators, and differences between ground and flight use cases and environments. When there is a limited window for on-orbit operations, devoting time and high-fidelity hardware to ground testing can be critical. Needs during potential troubleshooting are more essential to camera view quality, frame rate, and position requirements more than nominal operations. Detailed hardware manuals, nominal and contingency procedures, along with clearly defined operations team roles and protocols are vital for efficiency. RRM also demonstrated how the ISS can be utilized to increase the technology readiness levels required for future missions and led to additional technology partnerships between NExIS and the ISS program. The lessons from RRM are currently being applied to designs, operations concepts, and ground test methodology for missions such as On-orbit Servicing, Assembly, and Manufacturing1(OSAM-1)and Mars Sample Return.

Zakiya Tomlinson↗
NASA NTRS2023

Compliant Robotic Behaviors for Satellite Servicing

The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Compliance↗
DOE OSTI2020

Counterweight for Long Reach Robotic Arm

Maintenance for vital systems proves challenging due to their location: tucked up and behind components. Pinpointing the precise location of errors presents difficulty when relying solely on the human eye. The solution to this issue arises in the form of a Long Reach Robotic Arm. An adequately balanced robot with several individually controlled links contains the capability to maneuver around obstructing components to locate the points of failure with accuracy. The design process for such a robot begins with the writing of a program. The program intends to visualize how the Long Reach Robotic Arm will move in 2D space by printing a select number of lines representing each arm link to the screen and controlling each link through the keyboard. This code substantially simplifies the design process for the multi-linked arm. The next step in the Long Reach Robotic Arm design process is the development of the arm and its counterweight system. The clear division of this work allows two interns to work on this project: one assumes responsibility for the arm, and the other for the counterweight. I undertook the design for the counterbalance. My half of the project is essential for maintaining safety as an extended multi-linked robot arm presents the challenge of preserving stability. The best method to supply a balance to the robot, even in extension, is a mobile counterweight with a compact design.

43 PARTICLE ACCELERATORS↗
DOE OSTI2020

An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem Involving a Human-Robot Team

Here we present an approximation algorithm for a Task Allocation, Sequencing and Scheduling Problem (TASSP) involving a team of human operators and robots. The robots have to travel to a given set of targets and collaboratively work on the tasks at the targets with the human operators. The problem aims to find a sequence of targets for each robot to visit and schedule the tasks at the targets with the human operators such that each target is visited exactly once by some robot, the scheduling constraints are satisfied and the maximum mission time of any robot is minimum. This problem is a generalization of the single Traveling Salesman Problem and is NP-Hard. Given k robots and m human operators, an algorithm is developed for solving the TASSP with an approximation ratio equal to 5/2- 1/k when m ≥ k and equal to 7/2 -1/k otherwise. Computational results are also presented to corroborate the performance of the proposed algorithm.

42 ENGINEERING↗
NASA NTRS1994

Perspectives future space on robotics

Last year's flight of the German ROTEX robot flight experiment heralded the start of a new era for space robotics. ROTEX is the first of at least 10 new robotic systems and experiments that will fly before 2000. These robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces. The robotic systems to be flown in the next five years fall into three categories: extravehicular robotic (EVR) servicers, science payload servicers, and planetary surface rovers. A description of the work on these systems is presented.

SPACE ROBOTICS↗
NASA NTRS2013

Robotics for Human Exploration

Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

human-robot interaction↗
NASA NTRS2016

Nasa's Ant-Inspired Swarmie Robots

As humans push further beyond the grasp of earth, robotic missions in advance of human missions will play an increasingly important role. These robotic systems will find and retrieve valuable resources as part of an in-situ resource utilization (ISRU) strategy. They will need to be highly autonomous while maintaining high task performance levels. NASA Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots to be used as a ground-based research platform for ISRU missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in a previously unmapped environment and return those resources to a central site. This talk will guide the audience through the Swarmie robot project from its conception by students in a New Mexico research lab to its robot trials in an outdoor parking lot at NASA. The software technologies and techniques used on the project will be discussed, as well as various challenges and solutions that were encountered by the development team along the way.

biologically inspired robots↗
NASA NTRS2022

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗
DOE OSTI2023

Cost‐benefit assessment framework for robotics‐driven inspection of floating offshore wind farms

Abstract Operations and maintenance (O&M) of floating offshore wind farms (FOWFs) poses various challenges in terms of greater distances from the shore, harsher weather conditions, and restricted mobility options. Robotic systems have the potential to automate some parts of the O&M leading to continuous feature‐rich data acquisition, operational efficiency, along with health and safety improvements. There remains a gap in assessing the techno‐economic feasibility of robotics in the FOWF sector. This paper investigates the costs and benefits of incorporating robotics into the O&M of a FOWF. A bottom‐up cost model is used to estimate the costs for a proposed multi‐robot platform (MRP). The MRP houses unmanned aerial vehicle (UAV) and remotely operated vehicle (ROV) to conduct the inspection of specific FOWF components. Emphasis is laid on the most conducive O&M activities for robotization and the associated technical and cost aspects. The simulation is conducted in Windfarm Operations and Maintenance cost‐Benefit Analysis Tool (WOMBAT), where the metrics of incurred operational expenditure (OPEX) and the inspection time are calculated and compared with those of a baseline case consisting of crew transfer vessels, rope‐access technicians, and divers. Results show that the MRP can reduce the inspection time incurred, but this reduction has dependency on the efficacy of the robotic system and the associated parameterization e.g., cost elements and the inspection rates. Conversely, the increased MRP day rate results in a higher annualized OPEX. Residual risk is calculated to assess the net benefit of incorporating the MRP. Furthermore, sensitivity analysis is conducted to find the key parameters influencing the OPEX and the inspection time variation. A key output of this work is a robust and realistic framework which can be used for the cost‐benefit assessment of future MRP systems for specific FOWF activities.

17 WIND ENERGY↗
DOE OSTI2025

Integrated soft snake robot for gamma spectroscopy of radiologically contaminated ducting

Anticipated growth in the number and complexity of nuclear facilities entering the decommissioning phase of their lifespan requires innovative methods of mitigating radiological and safety hazards for workers. Advancements in robotics provide opportunities for remote characterization of radiologically contaminated ducts and pipes, reducing worker exposure. However, the nuclear decommissioning industry has shown a hesitancy in adopting new technology due to concerns regarding capital costs and a lack of demonstration data in representative environments. This work aims to leverage novel soft robotics to develop and demonstrate a sensor-integrated characterization tool for contaminated ducting systems. Two gamma spectrometers – one scintillation-based and one solid-state – were selected and integrated into a pneumatically-actuated snake-like soft robot using stretchable electronic cabling. The robot was then demonstrated at the Idaho National Laboratory’s Critical Infrastructure Test Range Complex. The robot maneuvered through a pseudo-constrained corridor containing several sealed sources and the integrated spectrometers collected spectra at various points along the path of travel. Both spectrometers successfully collected spectra with identifiable, isotope-specific peaks. To evaluate the effect of contamination buildup on the collected spectra, the robot with the integrated scintillation detector was tested using a liquid radioactive source. The resulting spectra showed little detection interference from the liquid contamination; however, a short-lived isotope was used which may not be representative of longer-lived contamination.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2023

Robotics Plan in Support of DOME Testbed Operations

Various robotic tooling options have been evaluated for the NRIC DOME concept of operations (ConOps). Framatome was contracted to develop a wide-ranging list of commercial off the shelf (COTS) and custom robotic systems to be considered for performing the DOME ConOps functions. Subsequent project tasks from Framatome narrowed down the list and scored the most viable options. The abbreviated list, and associated scoring, has been reviewed and assessed to provide formal recommendations for the robotic ConOps functions of DOME. The overhead telescoping mast & Kraft arm assembly is recommended as the primary system for reactor demobilization and removal. The estimated cost is $\$700$K with a timeline to develop and deliver of about 2.5 years. The mast & Kraft arm would still require an overhead lift system for mobilization and installation. Either the refurbished polar crane or a new gantry crane delivery platform could both serve as the overhead lift and delivery system. The estimated costs for the refurbishment polar crane and new gantry crane systems are, respectively, $\$4.4$M and $\$3$M with about 2.5 years to develop and deliver. A Brokk + Kraft crawler & arm is recommended as a secondary robotic system to support the overhead mast & Kraft arm system. The Brokk + Kraft crawler & arm would cost an estimated $\$726$k and would take about 1.5 years to develop and deliver. The Boston Dynamics SPOT robot is also recommended for the in-service monitoring during experimentation operations. The estimated cost is $\$220$K with a timeline to deliver of 8-14 months. The Elios 3 aerial drone is recommended to perform large area radiation dose rate mapping and visual inspections. The estimated cost is a $\$100$K and will also need about 8-14 months to develop and deliver. A mockup rig is also recommended to be procured an employed to test & verify the robotic capabilities as well as provide needed training for operations personnel. It is estimated that a mockup rig would cost about $\$500$k and would take up to a year to develop and build.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
NASA NTRS2003

A new method to evaluate human-robot system performance

One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

Space Flight/instrumentation↗
NASA NTRS2002

Algorithms and Sensors for Small Robot Path Following

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

path following↗
NASA NTRS2014

Swarming Robot Design, Construction and Software Implementation

In this paper is presented an overview of the hardware design, construction overview, software design and software implementation for a small, low-cost robot to be used for swarming robot development. In addition to the work done on the robot, a full simulation of the robotic system was developed using Robot Operating System (ROS) and its associated simulation. The eventual use of the robots will be exploration of evolving behaviors via genetic algorithms and builds on the work done at the University of New Mexico Biological Computation Lab.

construction overview↗
NASA NTRS2016

State Estimation for Tensegrity Robots

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

robot↗