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At least 307 records · Page 17

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Telerobotic rovers for extraterrestrial construction

The topics are presented in viewgraph form and include the following: fundamental concepts; advantages of modularity; modular robot; robot design; motor control system; simple manipulator; 4 degree of freedom manipulator; intermodule communication; network layout; positioning system--IR-TROP; IR TROP system design; testbed layout; modularized control; and centralized control. The objectives are the following: to design small modular robots; to test robotic cooperation and teleoperation; to develop modular control software; to develop intermodule communication network; to develop high accuracy positioning system; and to explore distributed algorithms for coordination.

Grasso, Chris↗

NASA NTRS2016

Air Tight: Building Inflatables/Inflatable Construction: Planning and Details

A design-build seminar consisting of students from Physics, Mechanical and Civil Engineering, Robotic, Material Science, Art, and Architecture who will work together on a deployable "closed-loop" inflatable greenhouse for Mars in theory, and an Earth analogue physical mockup on campus.

Kennedy, Kriss J.↗

NASA NTRS2010

Toolkits Control Motion of Complex Robotics

That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson's Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.

Source record↗

NASA NTRS2005

A Viable Scheme for Elemental Extraction and Purification Using In-Situ Planetary Resources

NASA's new strategic direction includes establishing a self-sufficient, affordable and safe human and robotic presence outside the low earth orbit. Some of the items required for a self-sufficient extra-terrestrial habitat will include materials for power generation (e.g. Si for solar cells) and habitat construction (e.g. Al, Fe, and Ti). In this paper we will present a viable elemental extraction and refining process from in-situ regolith which would be optimally continuous, robotically automated, and require a minimum amount of astronaut supervision and containment facilities, The approach is based on using a concentrated heat source and translating sample geometry to enable simultaneous oxide reduction and elemental refining. Preliminary results will be presented to demonstrate that the proposed zone refining process is capable of segregating or refining important elements such as Si (for solar cell fabrication) and Fe (for habitat construction). A conceptual scheme will be presented whereby such a process could be supported by use of solar energy and a precursor robotic mission on the surface of the moon.

Sen, S.↗

NASA NTRS1992

Viewing analyses for the assembly of Space Station Freedom (SSF)

Analyses are currently being conducted in the Man-Systems Division of the NASA Johnson Space Center, on the restructured Space Station Freedom configuration to determine viewing requirements for both robotic tasks and for extravehicular crew activities. The use of the PLAID software, a 3D modeling simulation tool, provides a simulation of the environment and the system hardware to identify potential problem areas needing further refinement in design development. This process enables human factor considerations and issues to be explored during the design process to identify and correct problems before hardware is actually constructed. Preliminary results have identified several potential viewing problem areas with the available lighting for both robotic and EVA tasks. To rectify the potential viewing problems identified through simulation, additional cameras and lighting enhancements are being proposed at various sites along the truss and on the Shuttle to provide more complete coverage of work task sites. Supplementing the existing cameras with color coded alignment aids will also help reduce the workload involved with robotic tasks.

Stealey, Sheryl↗

NASA NTRS2002

Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

Dowding, John↗

NASA NTRS1996

Mathematical Modeling For Control Of A Flexible Manipulator

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

Hu, Anren↗

NASA NTRS1994

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Erikson, Jon D.↗

NASA NTRS1994

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robotics

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an objective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Erickson, Jon D.↗

NASA NTRS2004

Constructing an Educational Mars Simulation

January 14th 2004, President George Bush announces his plans to catalyst the space program into a new era of space exploration and discovery. His vision encompasses a robotics program to explore our solar system, a return to the moon, the human exploration of Mars, and to promote international prosperity towards our endeavors. We at NASA now have the task of constructing this vision in a very real timeframe. I have been chosen to begin phase 1 of making this vision a reality. I will be working on creating an Educational Mars Simulation of human exploration of Mars to stimulate interest and involvement with the project from investors and the community. GRC s Computer Services Division (CSD) in collaboration with the Office of Education Programs will be designing models, constructing terrain, and programming this simulation to create a realistic portrayal of human exploration on mars. With recent and past technological breakthroughs in computing, my primary goal can be accomplished with only the aid of 3-4 software packages. Lightwave 3D is the modeling package we have selected to use for the creation of our digital objects. This includes a Mars pressurized rover, rover cockpit, landscape/terrain, and habitat. Once we have the models completed they need textured so Photoshop and Macromedia Fireworks are handy for bringing these objects to life. Before directly importing all of this data into a simulation environment, it is necessary to first render a stunning animation of the desired final product. This animation with represent what we hope to capture out of the simulation and it will include all of the accessories like ray-tracing, fog effects, shadows, anti-aliasing, particle effects, volumetric lighting, and lens flares. Adobe Premier will more than likely be used for video editing and adding ambient noises and music. Lastly, V-Tree is the real-time 3D graphics engine which will facilitate our realistic simulation. Additional information is included in the original extended abstract.

Henke, Stephen A.↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

Dubowsky, Steven↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total funding we received under this grant represented approximately one year of the original, proposed and approved, funding. For some time, there was substantial uncertainty that even this very reduced level of funding would be provided. The spending of the reduced available funds was spread just over two years to provide the support to permit the MS students who had joined the program to receive their master's degree and terminate their studies in this area.

Dubowsky, Steven↗

DOE OSTI2020

GPR Robotic Assisted Non-Destructive Evaluation of Concrete Structures - 20196

Reinforced concrete structures are always under exposure of internal or external deteriorations due to many factors such as environmental, nuclear radiation or even construction deficiencies. The use of nondestructive test is one of the reliable methods to inspect structural members. In this case, GPR has a good capability to detect inside deteriorations of concrete structures. However, in many cases it is hard to inspect structural members by hand due to safety issues or inaccessibility. Thus, an alternative way to reduce such risks is to employ robot to carry nondestructive equipment. In this research, twelve reinforced concrete RC beams (8 x 16 x 96, width, height and length) are cast in the lab. Three RC beams have no defect and nine others various defects such as corrosion, de-bonded bars, void, delamination and honeycombing. The one-point load is applied at the center of the RC beam. The loading level is carried out at three levels: 50%, 75% and 100% of maximum load and total load-displacement diagram are performed. The load is held at each level and the robotic GPR is used to scan the side of RC beams. Then, RADAN software is employed to find out any defects at different loading conditions and visualize the crack propagation. The RADAN results show that the pattern of crack propagation for corrosion and debonding are same. Also, the load-displacement results present that inside defect cause reduction of load-capacity of RC beam. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2020

Assemblers: A Modular, Reconfigurable Manipulator for Autonomous in-Space Assembly

This paper presents a modular, reconfigurable robotic manipulator for autonomous in-space assembly. On-orbit and planetary surface assembly is a challenging domain that encompasses various technological thrusts to support human exploration, science, and technology demonstration missions. The system architecture presented here addresses the need for robotic assembly of structures in locations that prohibit constant human oversight and/or teleoperation. This system is capable of scheduling, reconfiguring itself, and executing structural assembly tasks with the ability to assess construction and correct errors during the assembly as needed. An example concept of operations is presented. Details of the mechanical and electrical design of the robotic modules as well as the dynamic modeling approach, control algorithms, and sensing and perception systems are also provided.

robotics↗

DOE OSTI2022

Contech to Accelerate Cleantech: Seeding Emerging Innovation Programs for Construction Productivity and Energy Efficiency Integration; Preprint

Investments in U.S.-based start-ups that focus on advanced building construction technologies to increase construction productivity (contech) surged to approximately $3.1 billion in 2018 (as per Crunchbase data). More recently, emerging programs by government funding agencies, philanthropic foundations, and venture capitalists have been instrumental in supporting contech start-ups for innovations that increase productivity of energy efficiency integration and accelerate clean energy technologies (cleantech) for the buildings sector. These programs include R&D support and funding mechanisms for contech and cleantech. Traditionally, contech and cleantech are considered as two different innovation ecosystems. To enhance and scale up energy efficiency in buildings, creative programs that bring together contech and cleantech are critical. This paper provides a landscape assessment of the "contech-for-cleantech" innovation ecosystem in the U.S. and its impact in accelerating technology readiness and the development pipeline of "contech-for-cleantech". Technologies highlighted are robotics for retrofits, prefabrication of energy-efficient products, and advanced manufacturing of low-carbon net-zero buildings construction. Programs discussed include those led by (1) government funding agencies: American-Made Challenges with prizes like E-ROBOT for retrofits with robotics, (2) philanthropic foundations: Wells Fargo Innovation Incubator (IN2) that includes focus on energy efficiency and prefabrication, and (3) venture capitalists: Shadow Ventures Green Building Accelerator program which provides funding support to start-ups with ambitious plans for decarbonizing the built environment. This paper will also expand upon robust processes and criteria involved in judging and down-selection of start-ups through vetting and feedback from national lab researchers and industry experts in both cleantech and contech.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

spot_bt v.0.1.1

SAND2024-08430O spot_bt allows users to easily construct complex, autonomous behaviors without having to overly rely on Boston Dynamic’s Spot robot software development kit. Using a form-of-state machine called a "behavior tree," the software develops and applies different "leaves" or actions to the robot. Attaching multiple actions in sequence creates a "branch," and a series of these make up the "tree." The software works on any x86 or aarch64 hardware but must run on a Linux OS. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525

Kakish, Zahi↗

DOE OSTI2020

Scalable Electrolytic Systems for Renewable Hydrogen Production (Cooperative Research and Development Final Report, CRADA Number CRD-18-747)

The project focuses on offshore wind energy which is an emergent renewable energy source in the United States. Onsite hydrogen production for this sector is not available. The overall goal of GTA's work is development of scalable multi-megawatt water electrolysis systems that exclude platinum group metals, are constructed from readily available commodity materials and are mass produced using advanced manufacturing and robotics. They fabricated and successfully tested a scalable TRL 4 laboratory prototype that demonstrated promising results for achieving the goal. They further performed calculations and prepared scale drawings for an envisioned onsite TRL 8 electrolytic hydrogen production system at an offshore 8 MW wind turbine. The work plan of the CRADA proposal between NREL and GTA focuses on validation of the current TRL 4 prototype with potential development and refinement for advancement to a TRL 5 system. GTA, Inc. proposes joining the H2@Scale consortium to leverage DOE funds, benefit from and contribute to the common knowledge-base and work with NREL as a CRADA partner.

30 DIRECT ENERGY CONVERSION↗

NASA NTRS2019

Redeployable Sensor Probe for In-Situ Lunar Resource Mapping from Small Landers

The use of in-situ resources in lunar regolith for production of propellant, life support, and construction (e.g. polar water ice, hydrogen, helium-3, and regolith minerals) will enable sustainable robotic and human space exploration and pave the way for commercialization of lunar exploration. Currently, the search for and characterization of resources on the Moon uses orbital datasets and local geological and geophysical surveys to map and characterize potential deposits. To develop efficient ISRU systems, it is essential to find, characterize, and map lunar resources in-situ, at local scales, using deployable, analytical payloads. We have developed a 3 kg, TRL4 scientific payload, MoonSHOT (Moon Subsurface Hydrogen Optical Tool), to characterize and map lunar resources from a small lander or rover.

Sobron, P.↗