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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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All sources NASA NTRS DOE OSTI

NASA NTRS1993

Spline screw payload fastening system

A system for coupling an orbital replacement unit (ORU) to a space station structure via the actions of a robot and/or astronaut is described. This system provides mechanical and electrical connections both between the ORU and the space station structure and between the ORU and the ORU and the robot/astronaut hand tool. Alignment and timing features ensure safe, sure handling and precision coupling. This includes a first female type spline connector selectively located on the space station structure, a male type spline connector positioned on the orbital replacement unit so as to mate with and connect to the first female type spline connector, and a second female type spline connector located on the orbital replacement unit. A compliant drive rod interconnects the second female type spline connector and the male type spline connector. A robotic special end effector is used for mating with and driving the second female type spline connector. Also included are alignment tabs exteriorally located on the orbital replacement unit for berthing with the space station structure. The first and second female type spline connectors each include a threaded bolt member having a captured nut member located thereon which can translate up and down the bolt but are constrained from rotation thereabout, the nut member having a mounting surface with at least one first type electrical connector located on the mounting surface for translating with the nut member. At least one complementary second type electrical connector on the orbital replacement unit mates with at least one first type electrical connector on the mounting surface of the nut member. When the driver on the robotic end effector mates with the second female type spline connector and rotates, the male type spline connector and the first female type spline connector lock together, the driver and the second female type spline connector lock together, and the nut members translate up the threaded bolt members carrying the first type electrical connector up to the complementary second type connector for interconnection therewith.

Vranish, John M.↗

DOE OSTI2018

3-D Volumetric Gamma-ray Imaging and Source Localization with a Mobile Robot - 18124

Radiation detection has largely been a manual inspection process with point sensors such as Geiger-Muller counters and scintillation spectrometers to date. While their observations of source proximity prove useful, they lack the directional information necessary for efficient source localization and characterization in cluttered environments with multiple radiation sources. The recent commercialization of Compton gamma cameras provides directional information to the broader radiation detection community for the first time. This paper presents the integration of a Compton gamma camera with a self-localizing ground robot for accurate 3D radiation mapping. Using the position and orientation of the robot, radiation images from the gamma camera are accumulated over a traversed path in a shared frame of reference to construct a consistent voxel grid-based radiation map. The peaks of the map at pre-specified energy windows are selected as the source location estimates, which are compared to the ground truth source locations. The proposed approach localizes multiple sources to within an average of 0.2 m in two 5 x 4 m{sup 2} and 14 x 6 m{sup 2} laboratory environments. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1997

Health Care Robotics: A Progress Report

This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The main emphasis of the first phase of the project is on the development on a multi-modal operator interface and its evaluation by health care professionals and users. This paper describes the architecture of the system, the evaluation method used, and some preliminary results of the user evaluation.

handicapped mobile robots↗

NASA NTRS2005

Control Program for an Optical-Calibration Robot

A computer program provides semiautomatic control of a moveable robot used to perform optical calibration of video-camera-based optoelectronic sensor systems that will be used to guide automated rendezvous maneuvers of spacecraft. The function of the robot is to move a target and hold it at specified positions. With the help of limit switches, the software first centers or finds the target. Then the target is moved to a starting position. Thereafter, with the help of an intuitive graphical user interface, an operator types in coordinates of specified positions, and the software responds by commanding the robot to move the target to the positions. The software has capabilities for correcting errors and for recording data from the guidance-sensor system being calibrated. The software can also command that the target be moved in a predetermined sequence of motions between specified positions and can be run in an advanced control mode in which, among other things, the target can be moved beyond the limits set by the limit switches.

Johnston, Albert↗

NASA NTRS2008

RESOLVE Projects: Lunar Water Resource Demonstration and Regolith Volatile Characterization

To sustain affordable human and robotic space exploration, the ability to live off the land at the exploration site will be essential. NASA calls this ability in situ resource utilization (ISRU) and is focusing on finding ways to sustain missions first on the Moon and then on Mars. The ISRU project aims to develop capabilities to technology readiness level 6 for the Robotic Lunar Exploration Program and early human missions returning to the Moon. NASA is concentrating on three primary areas of ISRU: (1) excavating, handling, and moving lunar regolith, (2) extracting oxygen from lunar regolith, and (3) finding, characterizing, extracting, separating, and storing volatile lunar resources, especially in the permanently shadowed polar craters. To meet the challenges related to technology development for these three primary focus areas, the Regolith and Environment Science and Oxygen and Lunar Volatile Extraction (RESOLVE) project was initiated in February 2005, through funding by the Exploration Systems Mission Directorate. RESOLVE's objectives are to develop requirements and conceptual designs and to perform breadboard concept verification testing of each experiment module. The final goal is to deliver a flight prototype unit that has been tested in a relevant lunar polar environment. Here we report progress toward the third primary area creating ways to find, characterize, extract, separate, and store volatile lunar resources. The tasks include studying thermal, chemical, and electrical ways to collect such volatile resources as hydrogen, water, nitrogen, methane, and ammonia. We approached this effort through two subtasks: lunar water resource demonstration (LWRD) and regolith volatile characterization (RVC).

Source record↗

DOE OSTI2015

An Online Change of Activity in Energy Spectrum for Detection on an Early Intervention Robot

With the growth of industrial risks and the multiplication of CBRNe (Chemical Biological Radiological and explosive) attacks through toxic chemicals, biological or radiological threats, public services and military authorities face with increasingly critical situations, whose management is strongly conditioned by fast and reliable establishment of an informative diagnostic. Right after an attack, the five first minutes are crucial to define the various scenarios and the most dangerous for a human intervention. Therefore the use of robots is considered essential by all stakeholders of security. In this context, the SISPEO project (Systeme d'Intervention Sapeurs Pompiers Robotise) aims to create/build/design a robust response through a robotic platform for early intervention services such as civil and military security in hostile environments. CEA LIST has proposed an adapted solution to detect and characterize nuclear and radiological risks online and in motion, using a miniature embedded CdZnTe (CZT) crystal Gamma-ray spectrometer. This paper presents experimental results for this miniature embedded CZT spectrometer and its associated mathematical method to detect and characterize radiological threats online and in motion. (authors)

42 ENGINEERING↗

NASA NTRS1973

Digital processing of stereoscopic image pairs.

The problem under consideration is concerned with scene analysis during robot navigation on the surface of Mars. In this mode, the world model of the robot must be continuously updated to include sightings of new obstacles and scientific samples. In order to describe the content of a particular scene, it is first necessary to segment it into known objects. One technique for accomplishing this segmentation is by analyzing the pair of images produced by the stereoscopic cameras mounted on the robot. A heuristic method is presented for determining the range for each point in the two-dimensional scene under consideration. The method is conceptually based on a comparison of corresponding points in the left and right images of the stereo pair. However, various heuristics which are adaptive in nature are used to make the algorithm both efficient and accurate. Examples are given of the use of this so-called range picture for the purpose of scene segmentation.

Levine, M. D.↗

DOE OSTI2026

Online task-space motion control for positioner-coordinated multi-robot manufacturing systems

Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.

Arbogast, Alex [ORNL] (ORCID:0000000154740723)↗

NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.

test↗

NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

test↗

NASA NTRS1993

Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of Shuttle and Shuttle derived vehicles) engineering manual

The Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program and its predecessors, the ROBOT and the RAGMOP programs, have had a long history of supporting MSFC in the simulation of space boosters for the purpose of performance evaluation. The ROBOT program was used in the simulation of the Saturn 1B and Saturn 5 vehicles in the 1960's and provided the first utilization of the minimum Hamiltonian (or min-H) methodology and the steepest ascent technique to solve the optimum trajectory problem. The advent of the Space Shuttle in the 1970's and its complex airplane design required a redesign of the trajectory simulation code since aerodynamic flight and controllability were required for proper simulation. The RAGMOP program was the first attempt to incorporate the complex equations of the Space Shuttle into an optimization tool by using an optimization method based on steepest ascent techniques (but without the min-H methodology). Development of the complex partial derivatives associated with the Space Shuttle configuration and using techniques from the RAGMOP program, the ROBOT program was redesigned to incorporate these additional complexities. This redesign created the MASTRE program, which was referred to as the Minimum Hamiltonian Ascent Shuttle TRajectory Evaluation program at that time. Unique to this program were first-stage (or booster) nonlinear aerodynamics, upper-stage linear aerodynamics, engine control via moment balance, liquid and solid thrust forces, variable liquid throttling to maintain constant acceleration limits, and a total upgrade of the equations used in the forward and backward integration segments of the program. This modification of the MASTRE code has been used to simulate the new space vehicles associated with the National Launch Systems (NLS). Although not as complicated as the Space Shuttle, the simulation and analysis of the NLS vehicles required additional modifications to the MASTRE program in the areas of providing additional flexibility in the use of the program, allowing additional optimization options, and providing special options for the NLS configuration.

Lyons, J. T.↗

DOE OSTI2015

Validation of a novel robot-assisted 3DUS system for real-time planning and guidance of breast interstitial HDR brachytherapy

Purpose: In current clinical practice, there is no integrated 3D ultrasound (3DUS) guidance system clinically available for breast brachytherapy. In this study, the authors present a novel robot-assisted 3DUS system for real-time planning and guidance of breast interstitial high dose rate (HDR) brachytherapy treatment. Methods: For this work, a new computer controlled robotic 3DUS system was built to perform a hybrid motion scan, which is a combination of a 6 cm linear translation with a 30° rotation at both ends. The new 3DUS scanner was designed to fit on a modified Kuske assembly, keeping the current template grid configuration but modifying the frame to allow the mounting of the 3DUS system at several positions. A finer grid was also tested. A user interface was developed to perform image reconstruction, semiautomatic segmentation of the surgical bed as well as catheter reconstruction and tracking. A 3D string phantom was used to validate the geometric accuracy of the reconstruction. The volumetric accuracy of the system was validated with phantoms using magnetic resonance imaging (MRI) and computed tomography (CT) images. In order to accurately determine whether 3DUS can effectively replace CT for treatment planning, the authors have compared the 3DUS catheter reconstruction to the one obtained from CT images. In addition, in agarose-based phantoms, an end-to-end procedure was performed by executing six independent complete procedures with both 14 and 16 catheters, and for both standard and finer Kuske grids. Finally, in phantoms, five end-to-end procedures were performed with the final CT planning for the validation of 3DUS preplanning. Results: The 3DUS acquisition time is approximately 10 s. A paired Student t-test showed that there was no statistical significant difference between known and measured values of string separations in each direction. Both MRI and CT volume measurements were not statistically different from 3DUS volume (Student t-test: p > 0.05) and they were significantly correlated to 3DUS measurement (Pearson test: MRI p < 0.05 and CT p < 0.001). The mean angular separation distance between catheter trajectories segmented from 3DUS and CT images was 0.42° ± 0.24°, while the maximum and mean trajectory separations were 0.51 ± 0.19 and 0.37 ± 0.17 mm, respectively. Overall, the new finer grid has performed significantly better in terms of dosimetric indices. The planning target volume dosimetric indices were not found statistically different between 3DUS and CT planning (Student t-test, p > 0.05). Both the skin and the pectoral muscle dosimetric indices were within ABS guidelines. Conclusions: A novel robot-assisted 3DUS system was designed and validated. To their knowledge, this is the first system capable of performing real-time guidance and planning of breast multicatheter HDR brachytherapy treatments. Future investigation will test the feasibility of using the system in the clinic and for permanent breast brachytherapy.

60 APPLIED LIFE SCIENCES↗

NASA NTRS1989

Kinematic sensitivity of robot manipulators

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

Vuskovic, Marko I.↗

NASA NTRS1992

Detection And Avoidance Of Obstacles By Helicopters

Report discusses problems relevant to control subsystems enabling helicopters on nap-of-the-Earth flight paths to detect and avoid obstacles automatically. Indicates similarities between this and obstacle-avoidance problem of industrial mobile robots. Two approaches extend two-dimensional obstacle-avoidance concept to three dimensions. First involves direct search of three-dimensional range-map data for indications of openings between obstacles. Second involves compression of data into two-dimensional map for path search.

Cheng, Victor H. L.↗

NASA NTRS1994

Self-rescue strategies for EVA crewmembers equipped with the SAFER backpack

An extravehicular astronaut who becomes separated from a space station has three options available: grappling the station immediately by means of a 'shepherd's crook' device; rescue by either a second crewmember flying an MMU or a robotic-controlled MMU; or self-rescue by means of a propulsive system. The first option requires very fast response by a tumbling astronaut; the second requires constant availability of an MMU, as well as a rendezvous procedure thousands of feet from the station. This paper will consider the third option, propulsive self-rescue. In particular, the capability of the new Simplified Aid for EVA Rescue (SAFER) propulsive backpack, which is to be tested on STS-64 in Sep. 1994, will be studied. This system possesses an attitude hold function that can automatically detumble an astronaut after separation. On-orbit tests of candidate self-rescue systems have demonstrated the need for such a feature. SAFER has a total delta(v) capability of about 10 fps, to cover both rotations and translations, compared with a possible separation rate of 2.5 fps. But the delta(v) required for self-rescue is critically dependent on the delay before return can be initiated, as a consequence of orbital effects. A very important practical question is then whether the total delta(v) of SAFER is adequate to perform self-rescue for worst case values of separation speed, time to detumble, and time for the astronaut to visually acquire the station. This paper shows that SAFER does indeed have sufficient propellant to carry out self-rescue in all realistic separation cases, as well as in cases which are considerably more severe than anything likely to be encountered in practice. The return trajectories and total delta(v)'s discussed are obtained by means of an 'inertial line-of-sight targeting' scheme, derived in the paper, which allows orbital effects to be corrected by making use of the visual information available to the pilot, namely the line-of-sight direction to the station relative to the stars.

Williams, Trevor↗

NASA NTRS2004

Lunar and Planetary Science XXXV: Human Occupation of Space: Radiation, Risk, and Refuse

The titles in this section include: 1) Discrimination of Heavy Charged Particles in a Mixed Irradiation Using Optically Stimulated Luminescence Methods 2) MARIE: Current Status and Results from 20 Months of Observations at Mars 3) Mars Surface Analog Project: Preparing for Astronauts First Hours on Mars 4) The Need for Analogue Missions in Scientific Human and Robotic Planetary Exploration 5) Space Debris in the Geosynchronous Earth Orbit: Debris Environmental Asssessment and its Implications on Cost and Benefit Analysis.

Source record↗

NASA NTRS2003

Space Networking Demonstrated for Distributed Human-Robotic Planetary Exploration

Communications and networking experts from the NASA Glenn Research Center designed and implemented an innovative communications infrastructure for a simulated human-robotic planetary mission. The mission, which was executed in the Arizona desert during the first 2 weeks of September 2002, involved a diverse team of researchers from several NASA centers and academic institutions.

Bizon, Thomas P.↗

NASA NTRS2011

Desert Rats 2010 Operations Tests: Insights from the Geology Crew Members

Desert Research and Technology Studies (Desert RATS) is a multi-year series of tests of NASA hardware and operations deployed in the high desert of Arizona. Conducted annually since 1997, these activities exercise planetary surface hardware and operations in relatively harsh conditions where long-distance, multi-day roving is achievable. Such activities not only test vehicle subsystems, they also stress communications and operations systems and enable testing of science operations approaches that advance human and robotic surface exploration capabilities. Desert RATS 2010 tested two crewed rovers designed as first-generation prototypes of small pressurized vehicles, consistent with exploration architecture designs. Each rover provided the internal volume necessary for crewmembers to live and work for periods up to 14 days, as well as allowing for extravehicular activities (EVAs) through the use of rear-mounted suit ports. The 2010 test was designed to simulate geologic science traverses over a 14-day period through a volcanic field that is analogous to volcanic terrains observed throughout the Solar System. The test was conducted between 31 August and 13 September 2010. Two crewmembers lived in and operated each rover for a week with a "shift change" on day 7, resulting in a total of eight test subjects for the two-week period. Each crew consisted of an engineer/commander and an experienced field geologist. Three of the engineer/commanders were experienced astronauts with at least one Space Shuttle flight. The field geologists were drawn from the scientific community, based on funded and published field expertise.

Bleacher, J. E.↗