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All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

MOS 2.0: Modeling the Next Revolutionary Mission Operations System

Designed and implemented in the 1980's, the Advanced Multi-Mission Operations System (AMMOS) was a breakthrough for deep-space NASA missions, enabling significant reductions in the cost and risk of implementing ground systems. By designing a framework for use across multiple missions and adaptability to specific mission needs, AMMOS developers created a set of applications that have operated dozens of deep-space robotic missions over the past 30 years. We seek to leverage advances in technology and practice of architecting and systems engineering, using model-based approaches to update the AMMOS. We therefore revisit fundamental aspects of the AMMOS, resulting in a major update to the Mission Operations System (MOS): MOS 2.0. This update will ensure that the MOS can support an increasing range of mission types, (such as orbiters, landers, rovers, penetrators and balloons), and that the operations systems for deep-space robotic missions can reap the benefits of an iterative multi-mission framework.12 This paper reports on the first phase of this major update. Here we describe the methods and formal semantics used to address MOS 2.0 architecture and some early results. Early benefits of this approach include improved stakeholder input and buy-in, the ability to articulate and focus effort on key, system-wide principles, and efficiency gains obtained by use of well-architected design patterns and the use of models to improve the quality of documentation and decrease the effort required to produce and maintain it. We find that such methods facilitate reasoning, simulation, analysis on the system design in terms of design impacts, generation of products (e.g., project-review and software-delivery products), and use of formal process descriptions to enable goal-based operations. This initial phase yields a forward-looking and principled MOS 2.0 architectural vision, which considers both the mission-specific context and long-term system sustainability.

ground support systems↗
NASA NTRS1993

Development Of Software To Recognize Parts Of Plants

Report describes first phase in development of digital image-processing subsystem recognizing parts of plants. Subsystem part of robotic system tending and harvesting plants in automated plant-growth chamber. Initial focus on image-processing software that distinguishes among seed heads, stems, and leaves of wheat plants and further distinguishes between these parts and background. Software adaptable to other types of plants.

Despain, Ronald R.↗
NASA NTRS1992

Project Minerva: A low cost manned Mars mission based on indigenous propellant production

Project Minerva is a low-cost manned Mars mission designed to deliver a crew of four to the Martian surface using only two sets of two launches from the Kennedy Space Center. Key concepts which make this mission realizable are the use of near-term technologies and in-situ propellant production, following the scenario originally proposed by R. Zubrin. The first set of launches delivers two unmanned payloads into low Earth orbit (LEO): the first payload consists of an Earth Return Vehicle (ERV), a propellant production plant, and a set of robotic vehicles; the second payload consists of the trans-Mars injection (TMI) upper stage. In LEO, the two payloads are docked and the configuration is injected into a Mars transfer orbit. The landing on Mars is performed with the aid of multiple aerobraking maneuvers. On the Martian surface, the propellant production plant uses a Sabatier/electrolysis type process to combine nine tons of hydrogen with carbon dioxide from the Martian atmosphere to produce over a hundred tons of liquid oxygen and liquid methane, which are later used as the propellants for the rover expeditions and the manned return journey of the ERV. The systems necessary for the flights to and from Mars, as well as those needed for the stay on Mars, are discussed. These systems include the transfer vehicle design, life support, guidance and communications, rovers and telepresence, power generation, and propellant manufacturing. Also included are the orbital mechanics, the scientific goals, and the estimated mission costs.

Beder, David↗
NASA NTRS2000

Atmosphere of Freedom: Sixty Years at the NASA Ames Research Center

Throughout Ames History, four themes prevail: a commitment to hiring the best people; cutting-edge research tools; project management that gets things done faster, better and cheaper; and outstanding research efforts that serve the scientific professions and the nation. More than any other NASA Center, Ames remains shaped by its origins in the NACA (National Advisory Committee for Aeronautics). Not that its missions remain the same. Sure, Ames still houses the world's greatest collection of wind tunnels and simulation facilities, its aerodynamicists remain among the best in the world, and pilots and engineers still come for advice on how to build better aircraft. But that is increasingly part of Ames' past. Ames people have embraced two other missions for its future. First, intelligent systems and information science will help NASA use new tools in supercomputing, networking, telepresence and robotics. Second, astrobiology will explore lore the prospects for life on Earth and beyond. Both new missions leverage Ames long-standing expertise in computation and in the life sciences, as well as its relations with the computing and biotechnology firms working in the Silicon Valley community that has sprung up around the Center. Rather than the NACA missions, it is the NACA culture that still permeates Ames. The Ames way of research management privileges the scientists and engineers working in the laboratories. They work in an atmosphere of freedom, laced with the expectation of integrity and responsibility. Ames researchers are free to define their research goals and define how they contribute to the national good. They are expected to keep their fingers on the pulse of their disciplines, to be ambitious yet frugal in organizing their efforts, and to always test their theories in the laboratory or in the field. Ames' leadership ranks, traditionally, are cultivated within this scientific community. Rather than manage and supervise these researchers, Ames leadership merely guided them, represents them to NASA headquarters and the world outside, then steps out of the way before they get run over.

Bugos, Glenn E.↗
NASA NTRS2012

EVA Skills Training

Dr. Parazynski and a colleague from Extravehicular Activity (EVA), Robotics, & Crew Systems Operations (DX) worked closely to build the EVA Skills Training Program, and for the first time, defined the gold standards of EVA performance, allowing crewmembers to increase their performance significantly. As part of the program, individuals had the opportunity to learn at their own rate, taking additional water time as required, to achieve that level of performance. This focus on training to one's strengths and weaknesses to bolster them enabled the Crew Office and DX to field a much larger group of spacewalkers for the daunting "wall of EVA" required for the building and maintenance of the ISS. Parazynski also stressed the need for designers to understand the capabilities and the limitations of a human in a spacesuit, as well as opportunities to improve future generations of space. He shared lessons learned (how the Crew Office engaged in these endeavors) and illustrated the need to work as a team to develop these complex systems.

Parazynski, Scott↗
NASA NTRS1989

Planning robot actions under position and shape uncertainty

Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Laugier, Christian↗
DOE OSTI2025

WRPS Hanford Update [Slides]

The purpose of this report is to coordinate with the staff from WRPS, the current contract holder for operations at the Hanford site to better inform design decisions for the Autonomous systems for Hanford waste tank handling project. The project goals are to support risk reduction associated with monitoring, inspection and mapping of Hanford tank underground pits and includes: 1. A pit mock-up demonstration of Idaho National Laboratory’s (INL) Autonomous Pit Exploration System (APES) technology, which has two configurations: A. The Autonomous Robotic Arm, which is a proposed collaboration with Florida International University (FIU) and has capabilities to visually inspect, monitor, map and conduct simple tool manipulation tasks in the tank pits, and B. The robotic crawler configuration, which has capabilities to deploy to the bottom of the pits and conduct closer and bottom-up visual inspections. 2. An Implementation Plan that identifies Hanford site-wide application of the INL remote robotics technologies to enhance the performance of the tank farm systems and the characterization of the waste they contain to mitigate risk and optimize the overall waste mission. 3. A first-of-a-kind environmental digital twin will be produced. Digital twins to date require permanently installed sensors in order to produce asset specific predictions. This project will use the intermittent signals during inspections from deployed sensors on robotic systems to produce the data sets used by AI/ML to enable predictions of issues on tanks.

42 - ENGINEERING↗
NASA NTRS2015

Mars Ascent Vehicle-First Stage Motor

This project is development effort of a first stage solid motor based on a two-stage solid motor Mars Ascent Vehicle (MAV) design for the robotic Mars Sample Return (MSR) mission (fig. 1). The MSR MAV has been studied for decades and multiple concepts have been shown to meet the mission objectives as posed.1 However, there remains significant uncertainty with the MAV requirements. The sample container and sample cache itself is immature. Additionally, MAV-specific requirements ranging from full three-axis controlled and strict communication requirements to minimal capability concepts are still under consideration. Given the maturity of the overall mission requirements, the MAV has been limited to a large number of parametric analyses and paper studies. Recently, a Jet Propulsion Laboratory study highlighted the flexibility of a two-stage solid motor concept. The MAV itself is driven by the constraints of the Entry, Decent, and Landing (EDL) system. Within the EDL constraints, there is a range of MAV options ranging in complexity from simple spun upper stage options to higher capability three-axis controlled solutions. There are also options to trade the ratio of mission (Delta)V between the first and second stage. Finally, sensitivity studies also indicated that solid motors with a high percentage of off-load flexability only had minor impact on the total system mass over a single point design optimized motor. This flexibility in the first stage motor has allowed NASA to mature the design of the motor beyond parametric analyses and start to address known design challenges of the motor.

Dankanich, John↗
NASA NTRS1990

Lunar Polar Coring Lander

Plans to build a lunar base are presently being studied with a number of considerations. One of the most important considerations is qualifying the presence of water on the Moon. The existence of water on the Moon implies that future lunar settlements may be able to use this resource to produce things such as drinking water and rocket fuel. Due to the very high cost of transporting these materials to the Moon, in situ production could save billions of dollars in operating costs of the lunar base. Scientists have suggested that the polar regions of the Moon may contain some amounts of water ice in the regolith. Six possible mission scenarios are suggested which would allow lunar polar soil samples to be collected for analysis. The options presented are: remote sensing satellite, two unmanned robotic lunar coring missions (one is a sample return and one is a data return only), two combined manned and robotic polar coring missions, and one fully manned core retrieval mission. One of the combined manned and robotic missions has been singled out for detailed analysis. This mission proposes sending at least three unmanned robotic landers to the lunar pole to take core samples as deep as 15 meters. Upon successful completion of the coring operations, a manned mission would be sent to retrieve the samples and perform extensive experiments of the polar region. Man's first step in returning to the Moon is recommended to investigate the issue of lunar polar water. The potential benefits of lunar water more than warrant sending either astronauts, robots or both to the Moon before any permanent facility is constructed.

Angell, David↗
NASA NTRS1994

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Sarkar, Nilanjan↗
NASA NTRS2010

Exploration Roadmap Working Group (ERWG) Data Collection, NASA's Inputs

This slide presentation reviews four areas for further space exploration: (1) Human Exploration of Mars Design Reference Architecture (DRA) 5.0, (2) Robotic Precursors targeting Near Earth Objects (NEO) for Human Exploration, (3) Notional Human Exploration of Near Earth Objects and (4) Low Earth Orbit (LEO) Refueling to Augment Human Exploration. The first presentation reviews the goals and objectives of the Mars DRA, presents a possible mission profile, innovation requirements for the mission and key risks and challenges for human exploration of Mars. The second presentation reviews the objective and goals of the robotic precursors to the NEO and the mission profile of such robotic exploration. The third presentation reviews the mission scenario of human exploration of NEO, the objectives and goals, the mission operational drivers, the key technology needs and a mission profile. The fourth and last presentation reviews the examples of possible refueling in low earth orbit prior to lunar orbit insertion, to allow for larger delivered payloads for a lunar mission.

Drake, Bret↗
NASA NTRSDate not supplied

NASA’s Laser Communications Relay Demonstration (LCRD) Experiment Program: Characterization And Initial Operations

The National Aeronautics and Space Administration’s (NASA) Laser Communications Relay Demonstration (LCRD) completed the first 18 months of its Experiment Program in December 2023. The LCRD geosynchronous payload includes two laser communications terminals interconnected via an onboard electronic switch. The payload can relay information between any two of a set of three ground stations. Two optical ground stations are located in California and Hawaii, and an RF ground station is located in New Mexico. Experiments to date have included demonstration of optimetrics, demonstrations of Delay/Disruption Tolerant Networking (DTN), and measurements of the effects of the atmosphere (turbulence, weather) on the performance and availability of lasercom (pointing, tracking, communications, and adaptive optics). Furthermore, future operational scenarios including robotic and exploration missions with various network service configurations have been emulated. This paper provides an overview and highlights of the first 18 months of LCRD experiments, and a preview of the upcoming experiments, including relaying data to and from the Integrated LCRD Low-Earth Orbit (LEO) User Modem and Amplifier Terminal (ILLUMA-T) on the International Space Station. LCRD is a joint project involving NASA Goddard Space Flight Center (GSFC), the California Institute of Technology Jet Propulsion Laboratory (JPL), and Massachusetts Institute of Technology Lincoln Laboratory (MIT LL).

David J. Israel↗
NASA NTRS1992

Space robotics: Recent accomplishments and opportunities for future research

The Langley Guidance, Navigation, and Control Technical Committee (GNCTC) was one of six technical committees created in 1991 by the Chief Scientist, Dr. Michael F. Card. During the kickoff meeting Dr. Card charged the chairmen to: (1) establish a cross-Center committee; (2) support at least one workshop in a selected discipline; and (3) prepare a technical paper on recent accomplishments in the discipline and on opportunities for future research. The Guidance, Navigation, and Control Committee was formed and selected for focus on the discipline of Space robotics. This report is a summary of the committee's assessment of recent accomplishments and opportunities for future research. The report is organized as follows. First is an overview of the data sources used by the committee. Next is a description of technical needs identified by the committee followed by recent accomplishments. Opportunities for future research ends the main body of the report. It includes the primary recommendation of the committee that NASA establish a national space facility for the development of space automation and robotics, one element of which is a telerobotic research platform in space. References 1 and 2 are the proceedings of two workshops sponsored by the committee during its June 1991, through May 1992 term. The focus of the committee for the June 1992 - May 1993 term will be to further define to the recommended platform in space and to add an additional discipline which includes aircraft related GN&C issues. To the latter end members performing aircraft related research will be added to the committee. (A preliminary assessment of future opportunities in aircraft-related GN&C research has been included as appendix A.)

Montgomery, Raymond C.↗
NASA NTRS2020

InSight Robotic Arm Testing Activities for HP3 Mole Anomaly Recovery on Mars

The InSight lander’s Heat Flow and Physical Properties Package (HP3) was deployed on Mars in February 2019and began attempting to penetrate to its target depth range of3-5 meters shortly thereafter. However, the mole’s downwardprogress stopped after only 35 cm of penetration. In response,the project convened an Anomaly Response Team (ART) andsince then has been attempting to diagnose the problem andassist the mole using the tools available on Mars. The key assetused in this effort has been the Instrument Deployment System(IDS), which includes two cameras and a robotic InstrumentDeployment Arm (IDA). Since the IDS was originally intendedonly to deploy InSight’s primary instruments to the Martiansurface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to bedeveloped on a short timeline. The HP3 Mole ART first focusedon gathering all observable data on Mars about the state ofthe mole and Support Structure Assembly (SSA), as well asthe physical properties of the Martian regolith. This includedusing the robotic arm to point the IDC at the SSA duringdiagnostic hammering attempts to observe motion of the SSAand science tether. Images taken during these attempts revealedsome motion of the SSA, but no apparent change in mole depth.At JPL, the IDS and Testbed teams re-created the hardwareconfiguration on Mars based on limited knowledge of the mole’sstate. They devised and tested techniques to use the roboticarm and cameras to accomplish previously untested activitieson Mars, including imaging the HP3, using the IDA to interactwith the terrain, and using the IDA to move the SSA awayfrom the partially-embedded mole. The team executed the morepromising techniques on Mars. After diagnostic hammering onMars, the team decided to move the SSA to gain visibility ofthe mole’s configuration and access to the soil around the mole.After developing the technique and practicing the maneuver inthe InSight testbed, the team lifted the SSA on Mars and placedit behind the mole. This revealed a pit surrounding the nowexposed mole, observations of which provided essential cluesfor determining the root cause of the mole’s lack of progress.The IDS and Testbed teams altered the testbed to match thesituation on Mars. They devised IDA techniques to determinethe Martian soil properties and assist the mole’s descent. Theytested these techniques in the testbed and executed the more978-1-7281-2734-7/20/$31.00 c 2021 IEEE. Copyright 2020 CaliforniaInstitute of Technology. U.S. Government sponsorship acknowledged.promising ones on Mars. These include using the robotic arm toalter the regolith near the mole and to push on the mole while ithammers. This paper discusses the anomaly resolution testing inthe testbed at JPL, describes how the IDS team prepared for theanomaly recovery activities on Mars, and provides preliminaryresults of the efforts to assist the HP3 mole on Mars.

Kim, Junggon↗
NASA NTRS2020

EAP from 1999 to 2020: highlights from chairing the EAPAD conference for 22 years

The acronym, EAP (Electroactive polymers), and the synonymous term, artificial muscles, are now well recognized among scientists and engineers worldwide. Prior to 1999, development of such materials has been done at few research institutes in the US, Japan, Italy and Australia and had with minimal visibility and limited cooperation. The EAPAD Conference has been the first major international forum of communicating the development in the field of EAP. At the opening of the first Conf. that was held in 1999, the author posed an arm-wrestling challenge in an effort to promote worldwide advances towards the realization of the potentials of these materials. In posing the challenge, he sought to see EAP activated robotic arms win against human in wrestling match and thus provide a gauge to the technology state. In the contests that were held in 2005 and 2006, the arms lost against the high school female student who wrestled with them - their measured speed and force were about two orders of magnitude lower that the student. Even though no other contest was held since then, the progress in the field indicates that winning the challenge is becoming increasingly more likely. The improvements have led to many applications and many of them were presented at the annual EAPAD conferences and demonstrated at their EAP-in-Action Session. The applications included soft robots, steering mechanisms, brail displays, miniature grippers, loudspeakers, active diaphragm and pumps, toys as well as many others. This manuscript provides a brief review of the advances that were reported since the first EAPAD Conference, including the state of the art, challenges and the expectations for the field.

Bar-Cohen, Yoseph↗
DOE OSTI2014

SU-E-T-281: Reduction of Treatment Times in CyberKnife Prostate SBRT Using a Water Filled Rectal Balloon

Purpose: To illustrate 25% reduction in CyberKnife prostate SBRT treatment times using a water filled rectal balloon. Methods: We perform prostate SBRT using a 3800cGy in 4 fraction regimen prescribed between 51% 59% iso-dose lines to 95% of PTV using a CyberKnife System. The resultant heterogeneous dosimetry is analogous to HDR dosimetry. Our patients are treated in a feet first supine position to decrease treatment couch sag and also to position the prostate anatomy closer to the robot. CT imaging is performed with a Radiadyne Immobiloc rectal balloon filled with 45-50cc water placed firmly inside the patient's rectum. A treatment plan is developed from this CT study using Multiplan. The patient is treated every other day for 4 days using the rectal balloon for each fraction. Gold fiducials previously implanted inside the prostate are used for tracking by the CyberKnife system. Results: Critical structures comprise the usual GU anatomy of bladder, rectum, urethra, femoral-heads along with emphasis on doses to anterior rectal wall and rectal mucosa. The water filled rectal balloon localizes the rectum, which enables the physician to accurately contour both anterior rectal wall, and rectal mucosa. The balloon also has a gas release valve enabling better patient comfort. Rectum localization enables the CyberKnife system to make fewer corrections resulting in fewer treatment interruptions and time lost to re-adjustment for rectal motion, bowel filling and gas creation. Effective treatment times are reduced by 25% to approximately 45 minutes. Adoption of the balloon has required minimal change to our planning strategy and plan evaluation process. Conclusion: Patient follow-up comparisons show no difference in effectiveness of treatment with and without balloons We conclude that rectal balloons enhance patient comfort and decrease effective treatment times.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1989

Cooperative control of visual displays for telemanipulation

Two cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.

Kim, Won S.↗
NASA NTRS1992

Propellant production and useful materials: Hardware data from components and the systems

During the past year significant progress included: a major breakthrough in oxygen production through discs (instead of tubes) that resulted in two orders-of-magnitude increase in the yield rates, proving that oxygen production from any iron-bearing silicate (avoiding costly beneficiation) in lunar in-situ resource utilization (ISRU); construction of a half-scale robotic soil processor; production of melt-spun fibers in a solar furnace; and the culmination of first-stage research in the construction (and delivery to NASA LaRC) of a self-contained portable oxygen plant that incorporates the first generation ISRU technologies developed at UA SERC. In addition, further reductions in mass and power needs were achieved in two smaller oxygen plants, which, however, have far greater production rates. SERC continued to attract bright students both at the undergraduate and graduate levels, and several area high school students through the Professional Internship Program (PIP) administered by the local school district. Invited lectures at elementary schools continue to draw enthusiastic response. Another important first was the creation of the Freshman Colloquium, 'Space in Our Future, and Our Future in Space,' geared toward women and minority students. This course proved to be a success, with more than one-half of the enrollment composed of women. In recognition of these important contributions, the author was appointed to the NRC Committee on Space Science Technologies.

Ramohalli, Kumar↗