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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗
NASA NTRS1996

Real-Time Collision Avoidance for Dexterous 7-DOF Arms

A new approach to real-time collison avoidance for dexterous 7-DOF arms and supportive simulation and experimental results are presented. The collision avoidance problem is formulated and solved as a force control problem.

Real-Time Collision↗
NASA NTRS1995

Ground Control Station Development for the Dexterous Orbital Servicing System

The Dexterous Orbital Servicing System (DOSS) flight test program is being developed by NASA to verify the ability to utilize telerobotics for servicing Space Station Alpha. The development of a ground control station for Earth based control of DOSS is described. This flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure in a Space Shuttle bay.

remote robotic control dexterous orbital servicing↗
NASA NTRS1996

Obstacle Detection for the Ranger Telerobotic Flight Experiment

This paper describes the approach and algorithms developed for model-based obstacle detection and distance computation for the NASA Ranger Telerobotic Flight Experiment. Objects of interest, such as manipulator arms, the Ranger vehicle and solar arrays, are modeled using a small set of component types.

model-based obstacle detection manipulator arms Ra↗
NASA NTRS1993

A Prototype System for Ground Control Space Telerobotics

A telerobotics system is described which provides supervised autonomous control capability for time-delayed ground-remote control applications. The system includes a local site operator interface for interactive task description and a remote site task execution system. Interactive stereo graphics overlay on video is provided at the local site to update the remote environmental model. The remote site system is capable of nominal task execution as well as monitoring and reflex action. Execution utilizes multiple control modules which execute based upon command parameterization.

robotics autonomous control telerobotics manipulat↗
NASA NTRS2000

MVACS Robotic Arm

The primary purpose of the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm is to support to the other MVACS science instruments by digging trenches in the Martian soil; acquiring and dumping soil samples into the thermal evolved gas analyzer (TEGA); positioning the Soil Temperature Probe (STP) in the soil: positioning the Robotic Arm Air Temperature Sensor (RAATS) at various heights above the surface, and positioning the Robotic Arm Camera (RAC) for taking images of the surface, trench, soil samples, magnetic targets and other objects of scientific interest within its workspace.

robotics robotic arm sampling MVACS↗
NASA NTRS2007

Rover Graphical Simulator

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

Bon, Bruce↗
NASA NTRS2007

C Namelist Facility

C Namelist Facility (CNL) is a package of software that supports the development of data-driven programs that utilize relatively free-form input files (e.g., text files) to control complex operations. The only comparable prior namelist facility is built into Fortran and does not support arrays or records. Newer computing languages, including C and Pascal, do not include built-in namelist facilities. A namelist facility enables a program to utilize relatively free-form input files that contain assignment statements that give values to variables. Variables to which values are not assigned in input files remain unchanged; therefore, it becomes possible to have default values set by static or dynamic initialization of values prior to namelist input and updating of values is optional. Because it is not required to include values of variables in namelist input files, new parameters can be added to evolving programs without rendering old namelist input files obsolete -- provided that the new parameters have useful default values. It should be possible to execute CNL in any operating system that supports the ANSI C programming language. It has been executed in several variants of Unix and in VxWorks.

Bon, Bruce↗
NASA NTRS2003

Navigating a Mobile Robot Across Terrain Using Fuzzy Logic

A strategy for autonomous navigation of a robotic vehicle across hazardous terrain involves the use of a measure of traversability of terrain within a fuzzy-logic conceptual framework. This navigation strategy requires no a priori information about the environment. Fuzzy logic was selected as a basic element of this strategy because it provides a formal methodology for representing and implementing a human driver s heuristic knowledge and operational experience. Within a fuzzy-logic framework, the attributes of human reasoning and decision- making can be formulated by simple IF (antecedent), THEN (consequent) rules coupled with easily understandable and natural linguistic representations. The linguistic values in the rule antecedents convey the imprecision associated with measurements taken by sensors onboard a mobile robot, while the linguistic values in the rule consequents represent the vagueness inherent in the reasoning processes to generate the control actions. The operational strategies of the human expert driver can be transferred, via fuzzy logic, to a robot-navigation strategy in the form of a set of simple conditional statements composed of linguistic variables. These linguistic variables are defined by fuzzy sets in accordance with user-defined membership functions. The main advantages of a fuzzy navigation strategy lie in the ability to extract heuristic rules from human experience and to obviate the need for an analytical model of the robot navigation process.

Seraji, Homayoun↗
NASA NTRS2012

Chandra Observations of Galaxy Zoo Mergers: Frequency of Binary Active Nuclei in Massive Mergers

We present the results from a Chandra pilot study of 12 massive mergers selected from Galaxy Zoo. The sample includes major mergers down to a host galaxy mass of 10(sup 11) solar mass that already have optical AGN signatures in at least one of the progenitors. We find that the coincidences of optically selected active nuclei with mildly obscured (N(sub H) less than or approximately 1.1 x 10(exp 22) per square centimeter) X-ray nuclei are relatively common (8/12), but the detections are too faint (less than 40 counts per nucleus; f(sub 2-10 keV) less than or approximately 1.2 x 10(exp -13) ergs per second per square centimeter) to separate starburst and nuclear activity as the origin of the X-ray emission. Only one merger is found to have confirmed binary X-ray nuclei, though the X-ray emission from its southern nucleus could be due solely to star formation. Thus, the occurrences of binary AGN in these mergers are rare (0-8%), unless most merger-induced active nuclei are very heavily obscured or Compton thick.

Teng, Stacy H.↗
NASA NTRS2012

Chandra Observations of Galaxy Zoo Mergers: Frequency of Binary Active Nuclei in Massive Mergers

We present the results from a Chandra pilot study of 12 massive galaxy mergers selected from Galaxy Zoo. The sample includes major mergers down to a host galaxy mass of 1011 M that already have optical AGN signatures in at least one of the progenitors. We find that the coincidences of optically selected active nuclei with mildly obscured (N(sub H) approx < 1.1 10(exp 22)/sq cm) X-ray nuclei are relatively common (8/12), but the detections are too faint (< 40 counts per nucleus; (sub -10) keV approx < 1.2 10(exp -13) erg/s/sq cm) to reliably separate starburst and nuclear activity as the origin of the X-ray emission. Only one merger is found to have confirmed binary X-ray nuclei, though the X-ray emission from its southern nucleus could be due solely to star formation. Thus, the occurrences of binary AGN in these mergers are rare (0-8%), unless most merger-induced active nuclei are very heavily obscured or Compton thick.

Teng, Stacy H.↗
NASA NTRS2017

Group Housing During Hindlimb Unloading to Simulate Weightlessness

The rodent hindlimb unloading (HU) model was developed in the 1980s to faciliate the study of mechanisms, responses, and treatments for the adverse effects of spaceflight. A number of variations on unloading systems and cage designs have been developed, although most entail individually housing the HU animals. In this study, we performed hindlimb unloading under group housing conditions. Our preliminary results indicate that HU animals that were group housed for 30 days, displayed musculoskeletal decrements associated with disuse, and further, body weights did not differ compared to age-matched controls. In conclusion, group housing of HU mice provides a novel means to simulate weightlessness under conditions that more closely resemble living conditions of Rodent Research Project ISS flight hardware habitats, and minimizes the social stress of isolation, which is consistent with current animal welfare standards (Guide for the Care and Use of Laboratory Animals: Eighth Edition, National Research Council).

group housing↗
NASA NTRS2019

Estimation of coarse dead wood stocks in intact and degraded forests in the Brazilian Amazon using airborne lidar

Coarse dead wood is an important component of forest carbon stocks, but it is rarely measured in Amazon forests and is typically excluded from regional forest carbon budgets. Our study is based on line intercept sampling for fallen coarse dead wood conducted along 103 transects with a total length of 48 km matched with forest inventory plots where standing coarse dead wood was measured in the footprints of larger areas of airborne lidar acquisitions. We developed models to relate lidar metrics and Landsat time series variables to coarse dead wood stocks for intact, logged, burned, or logged and burned forests. Canopy characteristics such as gap area produced significant individual relations for logged forests. For total fallen plus standing coarse dead wood (hereafter defined as total coarse dead wood), the relative root mean square error for models with only lidar metrics ranged from 33 % in logged forest to up to 36 % in burned forests. The addition of historical information improved model performance slightly for intact forests (31 % against 35 % relative root mean square error), not justifying the use of a number of disturbance events from historical satellite images (Landsat) with airborne lidar data. Lidar-derived estimates of total coarse dead wood compared favorably with independent ground-based sampling for areas up to several hundred hectares. The relations found between total coarse dead wood and variables quantifying forest structure derived from airborne lidar highlight the opportunity to quantify this important but rarely measured component of forest carbon over large areas in tropical forests.

Brazilian Amazon↗