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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 343 records · Page 19

All sources NASA NTRS DOE OSTI

NASA NTRS2013

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Abdallah, Muhammad E.↗

NASA NTRS2015

Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

Dorsey, John T.↗

NASA NTRS2018

Robotics Platforms Incorporating Manipulators Having Common Joint Designs

Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Kennedy, Brett A.↗

NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

NASA NTRSDate not supplied

Robotic Manipulation Testbeds with HPSC

Interoperability and scalability of robotic manipulators will be key to develop and sustain a lunar surface and cislunar ecosystem. From in-space servicing, assembly, and manufacturing (ISAM) to logistics, maintenance, and science operations, robotic manipulation is a critical NASA capability need and the demand for high-performance spaceflight computing will only rise as robotic tasks become more autonomous. With increased complexity, testbeds for research, feasibility studies, and technology demonstrations will be essential. The Dexterous Robotics Team at NASA Johnson Space Center has established multiple robotic manipulation testbeds taking a supervised autonomous remote operations approach and plans to infuse High-Performance Spaceflight Computing (HPSC) to emulate the flight environment and close the gap between space technology development and flight operations.

Alex Sowell↗

NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software (ARMS)

Collin J Cresta↗

NASA NTRS2022

Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation

In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we demonstrate how controlling the palm-object interaction enables access to different sets of motion primitives. We first discuss how various properties of the palm affect in-hand manipulation, as well as grasping. Here, we focus on varying the friction force between the object and the palm by either changing the coefficient of friction or the normal load. We explore how these two design factors can be actively controlled to enable 5-degree-of-freedom object motion within the hand. We present variable-friction and variable-preload palms that enable on-the-fly switching between in-plane and out-of-plane manipulation modes. Additionally, we discuss their impact on grasp stability. Finally, we demonstrate how an object can be translated and pivoted within the hand by sequentially performing synchronized palm and finger actions.

Clark B Teeple↗

DOE OSTI2020

Probing and manipulating magnetic and 2D quantum materials using ultrafast laser and high harmonic sources

The ability to probe the full dynamic response of quantum materials on the length- and time-scales (Å to attoseconds on up) fundamental to charge, spin and phonon interactions is leading to a host of new discoveries. The coupled interactions between charges, spins, orbital and lattice degrees of freedom are key to determining the state of a material, whether metallic, insulating, superconducting or magnetic. Under thermal equilibrium conditions these states can be tuned by varying the temperature, pressure, chemical doping or dimensionality. However, their inherent complexity and rich phase landscape make them challenging to understand or manipulate deterministically. Fortunately, ultrafast light sources have undergone remarkable advances in recent years, achieving what was merely a dream three decades ago, i.e., full coherent control of light fields spanning the THz to the X-ray regions. Here, these new capabilities are providing powerful new tools for coherently manipulating and probing quantum materials using light. Recent advances in high harmonic generation (HHG) have provided new techniques for uncovering new phases and couplings in 2D and magnetic materials, using femtosecond lasers to coherently manipulate and tune the properties and interactions in the material, and HHG as a probe to map out these new phases and couplings. There are several beautiful recent observations of exciting new states in materials using light, but in some cases, the limited experimental data points made it challenging to validate an interpretation. The new ability of ultrafast HHG-based photoemission and magneto-optic spectroscopies to precisely probe multiple phases, electronic and magnetic order parameters, when combined with scanning the laser excitation fluence, is allowing us to map how material phases, magnetic states, and electron-phonon-spin couplings in these delicate materials.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

DOE OSTI2023

Method and system for automated plant surveillance and manipulation

A method and a system for automated plant surveillance and manipulation are provided. Pursuant to the method and the system, images of target plants are obtained through a machine vision system having multiple cameras. The obtained images of the target plants are processed to determine tissue candidates of the target plants and to determine a position and an orientation of each tissue candidate. A tool is manipulated, based on the position and the orientation of each tissue candidate, to excise each tissue candidate to obtain tissue samples. The tissue samples are transported for subsequently manipulation including live processing of the tissue samples or destructive processing of the tissue samples.

Kalluri, Udaya C.↗

DOE OSTI2020

Performance Evaluation of Augmented Teleoperation of Contact Manipulation Tasks

At Argonne National Laboratory, an enhanced telerobotic concept has been suggested by providing augmented virtual fixtures for precise and dexterous manipulation. The proposed technology incorporated a human-robot interface that can assist personnel on the processes of Deactivation and Decommissioning in sites of high radiation. It has been implemented on a dual-arm robot system, known as Baxter, by integrating the Robotic Operating System (ROS) with 3D sensors and visual-haptic operator interface. However, what remained before its practical utilization is the capability for precisely placing the virtual fixtures. To this end, the objectives involved camera calibration, which required hardware fabrication and setup, as well as modification and implementation of ROS. The goal of this Research and Development is to develop an augmented-reality- based operator interface for human-inclusive, intelligent, and autonomous robotic system for the Deactivation and Decommissioning (D and D) of radioactive sites. The objectives are to develop: Collaborative Robot; Multi-modal Mixed-Reality Human-Robot Interface; Intelligent and Autonomous Behaviors. In order to achieve this, Baxter's Head-Kinect camera and Left-Hand camera need to be calibrated to overlap the real environment with the simulated environment. Camera calibration, which is crucial for precisely placing the virtual fixtures, was successful after running the simulations. The real and simulated environments overlapped, permitting the utilization of augmented teleoperation and the dexterous manipulation of Baxter for D and D applications in nuclear sites. Future steps: Performance evaluation of augmented teleoperation of contact manipulation tasks: Multiple-Camera 3D Reconstruction and Automation. Oculus Interface: Augmented reality and machine learning for enhanced telerobotic operation (Augmented Tele-autonomy): Machine-learning techniques for complex and flexible autonomous robotic behaviors. Interactive remote operation of robotic systems. Mesh cutting with simulation and real robot.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1999

Autonomous Vision-Based Manipulation from a Rover Platform

Current rover designs use on-board manipulators to enhance their capabilities for planetary exploration and in-situ science. In this paper, we describe how these manipulators can be used to perform two types of operations: rock sample aquisition for return to earth and instrument placement for in-situ science meausrements.

autonomous manipulation rock acquisition instrumen↗

DOE OSTI2025

Compression–tension cell with sample manipulator for in situ X‐ray nanotomography experiments

In situ X-ray nanotomography experiments where tensile or compressive force is applied on the sample require specialized equipment. A compression-tension device with fluid flow-through capability has been designed for X-ray nanotomography beamlines. The compression-tension cell is equipped with a triaxial stage for sample alignment and a high sensitivity loadcell for measurement of applied force. To handle the <100 µm samples used for X-ray nanotomography imaging and for loading samples on the compression-tension cell a sample manipulator has been built. The sample manipulator is capable of selecting a single <100 µm particle for nanotomography scanning while viewing multiple samples under an optical microscope. To test the functionality of these two devices an initial compression experiment involving two glass beads was performed. To demonstrate instrument stability two spherical glass beads were compressed from a no load condition until one of the beads fractured. Nanotomography data were collected at each step of increasing compressive force. The experimentally observed contact area of the spherical glass beads was compared with the theoretical estimate using the Hertz analysis. To demonstrate the fluid flow capability, two calcite grains were compressed against each other under a calcite saturated solution. Surface topological changes were observed for the stressed grain contact area.

X-ray tomography↗

DOE OSTI2023

On the Feasibility of Market Manipulation and Energy Storage Arbitrage via Load-Altering Attacks

Around the globe, electric power networks are transforming into complex cyber–physical energy systems (CPES) due to the accelerating integration of both information and communication technologies (ICT) and distributed energy resources. While this integration improves power grid operations, the growing number of Internet-of-Things (IoT) controllers and high-wattage appliances being connected to the electric grid is creating new attack vectors, largely inherited from the IoT ecosystem, that could lead to disruptions and potentially energy market manipulation via coordinated load-altering attacks (LAAs). In this article, we explore the feasibility and effects of a realistic LAA targeted at IoT high-wattage loads connected at the distribution system level, designed to manipulate local energy markets and perform energy storage (ES) arbitrage. Realistic integrated transmission and distribution (T&D) systems are used to demonstrate the effects that LAAs have on locational marginal prices at the transmission level and in distribution systems adjacent to the targeted network.

25 ENERGY STORAGE↗

NASA NTRSDate not supplied

Lightweight Surface Manipulation System (LSMS) Technology Transfer Overview

The Lightweight Surface Manipulation System is a long-reach, low mass, deployable manipulator, using design principles of structurally efficient commercial cranes, with the enhanced dexterity and multi-functionality of a robotic arm.

Lunar Crane Robot↗

NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

lunar surface↗

DOE OSTI2021

Electrochemical Manipulation and Radiolytic Evaluation of Organic Phase Neptunium

Presentation for Seed LDRD proposal presentation: This Seed LDRD research proposes to test an innovative approach to precisely control the oxidation state distribution of neptunium (Np) under used nuclear fuel (UNF) reprocessing conditions using novel electrochemical methods. Current UNF reprocessing technologies are not financially viable in the US, requiring significant scientific and technological innovation to improve cost efficiency. Reducing the number of process cycles is one avenue for increasing cost efficiency, of which resolving the challenge associated with isolating Np is critical. Under envisioned process conditions, Np is present in a mixture of extractable (Np(IV) and Np(VI)) and inextractable (Np(V)) oxidation states, the distribution of which is dependent on several factors, including ionizing radiation dose, that change throughout a reprocessing scheme. Consequently, Np unintentionally partitions into various UNF reprocessing phases and product streams, ultimately increasing the number of process cycles to isolate UNF components. Here, we propose to employ novel, high surface area, optically transparent, Ligand Modified tin-doped indium oxide Electrodes (LMES). These LMEs bind Np, and therefore enable concurrent generation and spectroscopic characterization of Np oxidation states in organic solutions. These proof-of-concept experiments will: (i) facilitate optimization of the proposed electrochemical system conditions for Np oxidation state manipulation; (ii) identify the accessible electrochemical window for Np complexes in the organic phase; (iii) report characteristic optical spectra for each accessible complexed Np oxidation state; and (iv) determine the lifetime and partitioning of a given atypical Np oxidation state in the organic phase in the presence and absence of ionizing radiation fields. The data gathered by this Seed LDRD will provide support for the design of an electrochemical process concept for the precise manipulation of Np oxidation states in UNF reprocessing solvent systems, with the intention of providing advanced control over Np mass transfer, and thus greater process efficiency and economy.

38 RADIATION CHEMISTRY, RADIOCHEMISTRY, AND NUCLEA↗

DOE OSTI2020

Machine Vision-based Robot Manipulators for Nuclear Applications - 20370

Decommissioning and dismantling of nuclear facilities are major challenges facing the nuclear industry. Robot manipulators with capabilities of restoring nuclear structures and significantly prolonging nuclear power generation in addition to their applications in decommissioning and dismantling (D and D) would immensely ease the above-mentioned challenge. Ability to remotely sense/monitor and analyze dangerous and hazardous environments such as nuclear reactors as well as performing reparatory tasks in such environments using robot manipulators require additional information from vision sensors. Structural sample collection and inspection as well as restoration require object and position information. Computer vision is used to obtain precise 3D position information. The current work uses the Sawyer robot with the integrated Cognex camera. The research presents an approach to facilitate and improve operations in a nuclear reactor using robotic vision control. The vision control system is modeled with Augmented Image Space-based visual servoing approach. Results showing accurate robot control. Object recognition is used to recognize the image and calculate it poses. To transform coordinates of the object's pose from the camera frame to the robotic frame transformation matrices are employed. Future work will employ a 3D camera (with depth information) using Denso robot. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2021

All-Dielectric Meta-Optics for High-Efficiency Independent Amplitude and Phase Manipulation

Optical metasurfaces, composed of subwavelength scattering elements, demonstrate remarkable control over the transmitted amplitude, phase, and polarization of light. However, manipulating the amplitude upon transmission, without the use of surface waves, requires loss if a single metasurface is used. Herein, high-efficiency independent manipulation of the amplitude and phase of a beam is described using two lossless phase-only metasurfaces separated by a distance. With this configuration, optical components such as combined beam-forming and splitting devices are experimentally demonstrated, as well as those for forming complex-valued, 3D holograms. The compound meta-optic platform provides a promising approach for achieving high-performance holographic displays and compact optical components, while exhibiting a high overall efficiency.

42 ENGINEERING↗