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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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An extension of the MIAG algorithm for recognition and motion parameter determination of general 3-D polyhedral objects based on model matching techniques and using Moment Invariants as features of object representation is discussed. Results of tests conducted on the algorithm under conditions simulating space conditions are presented.
The analysis and development of a manipulator redundant in structure and sensor devices controlled by a distributed multiprocessor architecture are discussed. The goal has been the realization of a modular structure of the manipulator with evident aspects of flexibility and transportability. The distributed control structure, thanks to his modularity and flexibility could be integrated in the future into an operative structure aimed to space telerobotics. The architecture is applied to the 6 DOF manipulator Gilberto.
An orbital replaceable unit (ORU) is often defined as any orbital unit aboard Space Station with a wearout life of less than 30 years. The capability of successful changeout of these units by remote manipulation is critical to the ORU to telerobot interface design. A human factors evaluation of the selected interface showed certain inadequacies of the alignment target concept that was part of the interface package. Alternative target concepts which addressed these inadequacies were developed and are presented. Recommendations will be incorporated into NASA requirements documents which ORU suppliers and manufacturers must then build to.
The present volume on engineering, construction, and operations in space discusses surface structures on the moon and Mars, surface equipment, construction, and transportation on the moon and Mars, in situ materials use and processing, and space energy. Attention is given to such orbital structures as LEO and the space station, space mining and excavation, space materials, space automation and robotics, and space life support systems. Topics addressed include lunar-based astronomy, space systems integration, terrestrial support for space functions, and space education. Also discussed are space plans, policy, and history, space science and engineering, geoengineering and space exploration, and the construction and development of a human habitat on Mars.
Included in this second volume of a two volume set is the information on all of the projects, organized by Division in the manner familiar from our previous reports. It is intended, again, that the two volumes should be complementary to each other and that each volume should be able to stand alone as a report of the information that it contains.
The invention is a method of operating a robot in successive sampling intervals to perform a task, the robot having joints and joint actuators with actuator control loops, by decomposing the task into behavior forces, accelerations, velocities and positions of plural behaviors to be exhibited by the robot simultaneously, computing actuator accelerations of the joint actuators for the current sampling interval from both behavior forces, accelerations velocities and positions of the current sampling interval and actuator velocities and positions of the previous sampling interval, computing actuator velocities and positions of the joint actuators for the current sampling interval from the actuator velocities and positions of the previous sampling interval, and, finally, controlling the actuators in accordance with the actuator accelerations, velocities and positions of the current sampling interval. The actuator accelerations, velocities and positions of the current sampling interval are stored for use during the next sampling interval.
A multidisciplinary program has been conducted at the Langley Research Center to develop operational procedures for supervised autonomous assembly of truss structures suitable for large-aperture antennas. The hardware and operations required to assemble a 102-member tetrahedral truss and attach 12 hexagonal panels were developed and evaluated. A brute-force automation approach was used to develop baseline assembly hardware and software techniques. However, as the system matured and operations were proven, upgrades were incorporated and assessed against the baseline test results. These upgrades included the use of distributed microprocessors to control dedicated end-effector operations, machine vision guidance for strut installation, and the use of an expert system-based executive-control program. This paper summarizes the developmental phases of the program, the results of several assembly tests, and a series of proposed enhancements. No problems that would preclude automated in-space assembly or truss structures have been encountered. The test system was developed at a breadboard level and continued development at an enhanced level is warranted.
Ground control of space station robotics systems, unmanned space platform servicing, earth-based control of lunar and planetary rover missions, and planetary balloon missions.
New concepts for protective shields for NASA s Crew Exploration Vehicles (CEVs) and planetary probes offer improved mission safety and affordability. Hazards include radiation from cosmic rays and solar particle events, hypervelocity impacts from orbital debris/ micrometeorites, and the extreme heating environment experienced during entry into planetary atmospheres. The traditional approach for the design of protection systems for these hazards has been to create single-function shields, i.e. ablative and blanket-based heat shields for thermal protection systems (TPS), polymer or other low-molecular-weight materials for radiation shields, and multilayer, Whipple-type shields for protection from hypervelocity impacts. This paper introduces an approach for the development of a single, multifunctional protective shield, employing nanotechnology- based materials, to serve simultaneously as a TPS, an impact shield and as the first line of defense against radiation. The approach is first to choose low molecular weight ablative TPS materials, (existing and planned for development) and add functionalized carbon nanotubes. Together they provide both thermal and radiation (TR) shielding. Next, impact protection (IP) is furnished through a tough skin, consisting of hard, ceramic outer layers (to fracture the impactor) and sublayers of tough, nanostructured fabrics to contain the debris cloud from the impactor before it can penetrate the spacecraft s interior.
There must be a plan or opportunities for flight validation: a) To reduce the bottleneck of new technologies at the TRL Valley of Death; b) To allow frequent infusion of new technologies into flight missions. Risk must be tolerated for new technology flight experiments. Risk must also be accepted on early-adopting missions to enable new capabilities. Fundamental research is critical to taking the next giant leap in the scientific exploration of space. Technology push is often required to meet current mission requirements. Technology management requires more than issuing NRAs and overseeing contracts.
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In this paper we will discuss the Ranger system architecture, rendering performance, current use cases and deployments, system development challenges, as well as a newly implemented fully immersive VR system capability.
A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.
A plan for the incorporation of Automation and Robotics technology on the Space Station is presented. The time phased introduction of twenty two selected candidates is set forth in accordance with a technology development forecast. Twenty candidates were chosed primarily for their potential to relieve the crew of mundane or dangerous operations and maintenance burdens, thus freeing crew time for mission duties and enhancing safety. Two candidates were chosen based on a potential for increasing the productivity of laboratory experiments and thus directly enhancing the scientific value of the Space Station. A technology assessment for each candidate investigates present state of the art, development timelines including space qualification considerations, and potential for technology transfer to earth applications. Each candidate is evaluated using a crew workload model driven by crew size, number of pressurized U.S. modules and external payloads, which makes it possible to assess the impact of automation during a growth scenario. Costs for each increment of implementation are estimated and accumulated.
Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.