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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 523 records · Page 29

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NASA NTRS1989

Information management in an integrated space telerobot

The in-orbit operations, like space structures inspection, servicing and repairing, is expected to be one of the most significant technological area for application and development of Robotics and Automation in Space Station environment. The Italian National Space Plan (PSN) has started up its strategic programme SPIDER (Space Inspection Device for Extravehicular Repairs), which is scheduled in three phases, with the final goal of performing docking and precision repairing in the Space Station environment. SPIDER system is an autonomous integrated space robot, using mature Artificial Intelligence tools and technics for its operational control. The preliminary results of a study on the information architecture of the spacecraft are described.

Dipippo, S.↗

NASA NTRS1990

Experimental study on direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a direct adaptive control scheme on a PUMA 560 industrial robot is discussed. The design theory for direct adaptive control of manipulators is outlined and the test facility and software are described. Results are presented from the experiments on the simultaneous control of all of the six joint angles and control of the end-effector position and orientation of the robot. Also, the possible applications of the direct adaptive control scheme are considered.

Seraji, H.↗

NASA NTRS1990

Remote voice training: A case study on space shuttle applications, appendix C

The Tile Automation System includes applications of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. An integrated set of rapid prototyping testbeds was developed which include speech recognition and synthesis, laser imaging systems, distributed Ada programming environments, distributed relational data base architectures, distributed computer network architectures, multi-media workbenches, and human factors considerations. Remote voice training in the Tile Automation System is discussed. The user is prompted over a headset by synthesized speech for the training sequences. The voice recognition units and the voice output units are remote from the user and are connected by Ethernet to the main computer system. A supervisory channel is used to monitor the training sequences. Discussions include the training approaches as well as the human factors problems and solutions for this system utilizing remote training techniques.

Mollakarimi, Cindy↗

NASA NTRS1990

Braided composite bore evacuator chambers for tank cannons

Typically, continuous filament composite components are fabricated using a filament winding technique. In this operation, fibers are introduced to a rotating mandrel while a guide holding the material traverses back and forth to place the material in a helical pattern over the surface of the mandrel. This procedure is continued until complete coverage is obtained. An alternative method for fabricating continuous filament composite components is braiding. In the braiding operation a mandrel is traversed through the center of the braider while 144 strands of material traverse around a carrier ring. As the fibers are applied to a mandrel surface, 72 carriers holding the fibers travel clockwise, while another 72 carriers travel counterclockwise to interlock fibers. An additional 72 carriers located on the back of the braider introduce longitudinal fibers to the composite giving the composite lateral strength. The goal of using the braider is to reduce production time by simultaneously applying 144 strands of material onto a mandrel as opposed to the four-strand wrapping most filament winding techniques offer. Benefits to braiding include the ability to (1) introduce longitudinal fibers to the composite structure; (2) fabricate non-symmetric components without using complex functions to produce full coverage; and (3) produce a component with a higher degree of damage tolerance due to the interlocking of fibers. The fabrication of bore evacuator chambers for a tank cannon system is investigated by utilizing a 144 carrier braiding machine, an industrial robot, and a resin applicator system.

Wheeler, Philip C.↗

NASA NTRS1991

Optical computing at NASA Ames Research Center

Optical computing research at NASA Ames Research Center seeks to utilize the capability of analog optical processing, involving free-space propagation between components, to produce natural implementations of algorithms requiring large degrees of parallel computation. Potential applications being investigated include robotic vision, planetary lander guidance, aircraft engine exhaust analysis, analysis of remote sensing satellite multispectral images, control of space structures, and autonomous aircraft inspection.

Reid, Max B.↗

NASA NTRS1992

The ROMPS robot in HitchHiker

The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

Voellmer, George↗

NASA NTRS1992

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Sicard, Pierre↗

NASA NTRS1993

NEP Early Flight program: System performance and development considerations

A mission/system study of Nuclear Electric Propulsion (NEP) for early robotic planetary science mission applications has been conducted. Subject missions considered included a Mars orbiter with a Phobos and Deimos Rendezvous; a Comet Kopff Rendezvous; a Multiple Mainbelt Asteroid Rendezvous (MMBAR); an Asteroid (Vesta) Sample Return; a Trojan Asteroid (Odysseus) Rendezvous; and a Jupiter mini Grand Tour. The purpose of the study was to determine if 'near-term' NEP technology could be used on an early NEP flight to demonstrate the technologies while conducting a useful science mission. The analysis shows that, depending upon technology readiness date, the missions could be performed with low power NEP. The technology and system development costs associated with vehicle/stage development for a candidate mission are presented. The study assumed relatively mature space electric power and space electric propulsion technologies (more advanced technologies have been already shown by others to be enabling for many outer planetary missions). Thus, a very important first step in using NEP would be taken, which would contribute valuable solar system science, as well as reduce the risks associated with using NEP for more demanding outer planetary science mission applications.

Doherty, Michael P.↗

NASA NTRS1994

Space flight manipulator technologies and requirements for the NASA Flight Telerobotic Servicer (FTS)

NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.

Chladek, John T.↗

NASA NTRS1994

Microwave sensor for ice detection

A microwave technique has been developed for detecting ice build-up on the wing surfaces of commercial airliners and highway bridges. A microstrip patch antenna serves as the sensor, with changes in the resonant frequency and impedance being dependent upon the overlying layers of ice, water and glycol mixtures. The antenna sensor is conformably mounted on the wing. The depth and dielectric constants of the layers are measured by comparing the complex resonant admittance with a calibrated standard. An initial breadboard unit has been built and tested. Additional development is now underway. Another commercial application is in the robotics field of remote sensing of coal seam thickness.

Arndt, G. D.↗

NASA NTRS1995

High-Performance electronics at ultra-low power consumption for space applications: From superconductor to nanoscale semiconductor technology

A detailed review of Sandia's work in ultralow power dissipation electronics for space flight applications, including superconductive electronics, new advances in quantum well structures, and ultra-high purity 3-5 materials, and recent advances in micro-electro-optical-mechanical systems (MEMS) is presented. The superconductive electronics and micromechanical devices are well suited for application in micro-robotics, micro-rocket engines, and advanced sensors.

Duncan, Robert V.↗

NASA NTRS1999

Integrated Dual Imaging Detector

A new type of image detector was designed to simultaneously analyze the polarization of light at all picture elements in a scene. The integrated Dual Imaging detector (IDID) consists of a lenslet array and a polarizing beamsplitter bonded to a commercial charge coupled device (CCD). The IDID simplifies the design and operation of solar vector magnetographs and the imaging polarimeters and spectroscopic imagers used, for example, in atmosphere and solar research. When used in a solar telescope, the vector magnetic fields on the solar surface. Other applications include environmental monitoring, robot vision, and medical diagnoses (through the eye). Innovations in the IDID include (1) two interleaved imaging arrays (one for each polarization plane); (2) large dynamic range (well depth of 10(exp 5) electrons per pixel); (3) simultaneous readout and display of both images; and (4) laptop computer signal processing to produce polarization maps in field situations.

Rust, David M.↗

NASA NTRS1999

Metrics of a Paradigm for Intelligent Control

We present metrics for quantifying organizational structures of complex control systems intended for controlling long-lived robotic or other autonomous applications commonly found in space applications. Such advanced control systems are often called integration platforms or agent architectures. Reported metrics span concerns about time, resources, software engineering, and complexities in the world.

Hexmoor, Henry↗

NASA NTRS1999

Rotary Motors Actuated by Traveling Ultrasonic Flexural Waves

Efficient miniature actuators that are compact and consume low power are needed to drive space and planetary mechanisms in future NASA missions. Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors have emerged in commercial products but they need to be adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and also require effective analytical tools for the design of efficient motors. A finite element analytical model was developed to examine the excitation of flexural plate wave traveling in a piezoelectrically actuated rotary motor. The model uses 3D finite element and equivalent circuit models that are applied to predict the excitation frequency and modal response of the stator. This model incorporates the details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. The theoretical predictions were corroborated experimentally for the stator. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. Experiments have shown that the motor can sustain at least 230 temperature cycles from 0 C to -90 C at 7 Torr pressure significant performance change. Also, in an earlier study the motor lasted over 334 hours at -150 C and vacuum. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.

Bar-Cohen, Yoseph↗

NASA NTRS2010

Low-Friction, Low-Profile, High-Moment Two-Axis Joint

The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, two-axis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the joint has a low profile to fit within the allowable space, low friction, and high moment-reacting capability. The mechanical arrangement of this joint can withstand high moments when loads are applied. These features allow the joint to be used in tight spaces where a high load capability is required, as well as in applications where penetrating the mounting surface is not an option or where surface mounting is required. The joint consists of one base, one clevis, one cap, two needle bearings, and a circular shim. The base of the joint is the housing (the base and the cap together), and is connected to the grounding structure via fasteners and a bolt pattern. Captive within the housing, between the base and the cap, are the rotating clevis and the needle bearings. The clevis is attached to the mechanical system (linear actuator) via a pin. This pin, and the rotational movement of the clevis with respect to the housing, provides two rotational degrees of freedom. The larger diameter flange of the clevis is sandwiched between a pair of needle bearings, one on each side of the flange. During the assembly of the two-axis joint, the circular shims are used to adjust the amount of preload that is applied to the needle bearings. The above arrangement enables the joint to handle high moments with minimal friction. To achieve the high-moment capability within a low-profile joint, the use of depth of engagement (like that of a conventional rotating shaft) to react moment is replaced with planar engagement parallel to the mounting surface. The needle bearings with the clevis flange provide the surface area to react the clevis loads/moments into the joint housing while providing minimal friction during rotation. The diameter of the flange and the bearings can be increased to react higher loads and still maintain a compact surface mounting capability. This type of joint can be used in a wide variety of mechanisms and mechanical systems. It is especially effective where precise, smooth, continuous motion is required. For example, the joint can be used at the end of a linear actuator that is required to extend and rotate simultaneously. The current design application is for use in a spacecraft docking-system capture mechanism. Other applications might include industrial robotic or assembly line apparatuses, positioning systems, or in the motion-based simulator industry that employs complex, multi-axis manipulators for various types of motions.

Lewis, James L.↗

NASA NTRS2010

Magnetostrictive Brake

A magnetostrictive brake has been designed as a more energy-efficient alternative to a magnetic fail-safe brake in a robot. (In the specific application, failsafe signifies that the brake is normally engaged; that is, power must be supplied to allow free rotation.) The magnetic failsafe brake must be supplied with about 8 W of electric power to initiate and maintain disengagement. In contrast, the magnetostrictive brake, which would have about the same dimensions and the same torque rating as those of the magnetic fail-safe brake, would demand only about 2 W of power for disengagement. The brake (see figure) would include a stationary base plate and a hub mounted on the base plate. Two solenoid assemblies would be mounted in diametrically opposed recesses in the hub. The cores of the solenoids would be made of the magnetostrictive alloy Terfenol-D or equivalent. The rotating part of the brake would be a ring-and spring- disk subassembly. By means of leaf springs not shown in the figure, this subassembly would be coupled with the shaft that the brake is meant to restrain. With no power supplied to the solenoids, a permanent magnet would pull axially on a stepped disk and on a shelf in the hub, causing the ring to be squeezed axially between the stepped disk and the hub. The friction associated with this axial squeeze would effect the braking action. Supplying electric power to the solenoids would cause the magnetostrictive cylinders to push radially inward against a set of wedges that would be in axial contact with the stepped disk. The wedges would convert the radial magnetostrictive strain to a multiplied axial displacement of the stepped disk. This axial displacement would be just large enough to lift the stepped disk, against the permanent magnetic force, out of contact with the ring. The ring would then be free to turn because it would no longer be squeezed axially between the stepped disk and the hub.

Diftler, Myron A.↗

NASA NTRS2016

Frontier In-Situ Resource Utilization for Enabling Sustained Human Presence on Mars

The currently known resources on Mars are massive, including extensive quantities of water and carbon dioxide and therefore carbon, hydrogen and oxygen for life support, fuels and plastics and much else. The regolith is replete with all manner of minerals. In Situ Resource Utilization (ISRU) applicable frontier technologies include robotics, machine intelligence, nanotechnology, synthetic biology, 3-D printing/additive manufacturing and autonomy. These technologies combined with the vast natural resources should enable serious, pre- and post-human arrival ISRU to greatly increase reliability and safety and reduce cost for human colonization of Mars. Various system-level transportation concepts employing Mars produced fuel would enable Mars resources to evolve into a primary center of trade for the inner solar system for eventually nearly everything required for space faring and colonization. Mars resources and their exploitation via extensive ISRU are the key to a viable, safe and affordable, human presence beyond Earth. The purpose of this paper is four-fold: 1) to highlight the latest discoveries of water, minerals, and other materials on Mars that reshape our thinking about the value and capabilities of Mars ISRU; 2) to summarize the previous literature on Mars ISRU processes, equipment, and approaches; 3) to point to frontier ISRU technologies and approaches that can lead to safe and affordable human missions to Mars; and 4) to suggest an implementation strategy whereby the ISRU elements are phased into the mission campaign over time to enable a sustainable and increasing human presence on Mars.

Moses, Robert W.↗

NASA NTRS2000

MEMS technology at NASA's Jet Propulsion Laboratory

The MEMS Technology Group is part of the Microdevices Laboratory (MDL) at the Jet Propulsion Laboratory (JPL). The group pursues the development of a wide range of advanced MEMS technologies that are primarily applicable to NASA's robotic as well as manned exploration missions.

MEMS↗