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At least 595 records · Page 33

The JPL telerobot operator control station. Part 2: Software

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.

Kan, Edwin P.↗

A Simulation Base Investigation of High Latency Space Systems Operations

NASA's human space program has developed considerable experience with near Earth space operations. Although NASA has experience with deep space robotic missions, NASA has little substantive experience with human deep space operations. Even in the Apollo program, the missions lasted only a few weeks and the communication latencies were on the order of seconds. Human missions beyond the relatively close confines of the Earth-Moon system will involve missions with durations measured in months and communications latencies measured in minutes. To minimize crew risk and to maximize mission success, NASA needs to develop a better understanding of the implications of these types of mission durations and communication latencies on vehicle design, mission design and flight controller interaction with the crew. To begin to address these needs, NASA performed a study using a physics-based subsystem simulation to investigate the interactions between spacecraft crew and a ground-based mission control center for vehicle subsystem operations across long communication delays. The simulation, built with a subsystem modeling tool developed at NASA's Johnson Space Center, models the life support system of a Mars transit vehicle. The simulation contains models of the cabin atmosphere and pressure control system, electrical power system, drinking and waste water systems, internal and external thermal control systems, and crew metabolic functions. The simulation has three interfaces: 1) a real-time crew interface that can be use to monitor and control the vehicle subsystems; 2) a mission control center interface with data transport delays up to 15 minutes each way; 3) a real-time simulation test conductor interface that can be use to insert subsystem malfunctions and observe the interactions between the crew, ground, and simulated vehicle. The study was conducted at the 21st NASA Extreme Environment Mission Operations (NEEMO) mission between July 18th and Aug 3rd of year 2016. The NEEMO mission provides ideal conditions for this study with crew in the loop, an active control center, and real-time flow of high latency communications and data. NEEMO crew and ground support will work through procedures including activation of the transit vehicle power system, opening the hatch between the transit vehicle and a Mars ascent vehicle, transferring simulated crewmembers between vehicles, overcoming subsystem malfunctions, sending simulated crewmember on extra-vehicular activities, and other housekeeping activities. This study is enhancing the understanding of high latency operations and the advantages and disadvantages of different communication methods. It is also providing results that will help improve the design of simulation interfaces and inform the design of Mars transit vehicles.

Li, Zu Qun↗

Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

Davis, Gloria J.↗

Advanced Teleoperator Control System

Proposed teleoperator control system incorporates several advanced features to improve coordination between remote robotic manipulator (slave arm) and human operator at control manipulator (master arm). Provides superior performance in terms of error profiles and task-completion time in presence of human control errors varying over wide range and maintains stability under large signal-propagation delays. System highly robust in presence of nonlinearities and incorrect human commands in both position and rate modes of control.

Lee, Sukhan↗

Automation and Use of Robotics for Decommissioning Tasks - 18322

Decommissioning across the globe is being executed largely by manual labor. The Organization for Economic Co-operation and Development (OECD) has concluded that the nuclear industry has not fully exploited or implemented current technological capabilities, and relies on sometimes outdated technology to perform decommissioning tasks [1]. To address this issue, EPRI recently published the report Evaluation of System Automation and Robotics for Decommissioning Applications (EPRI 3002010599) [2]. To facilitate wide usage of the guidance by technology developers, the report is publicly available at no cost. The use of more efficient and effective decommissioning technologies and processes could reduce the decommissioning project schedule and therefore reduce the period-dependent costs incurred throughout the decommissioning project. Such systems may also offer a substantial benefit with respect to worker safety and radiation exposure reduction. However, tasks for which use of such systems is beneficial must be carefully considered, being robust and generally trouble free to operate in the demanding environment of commercial power plant decommissioning. A review of the major tasks involved in the decommissioning of a nuclear power plant is presented, with a critical assessment of the benefits for the use of robotics and/or automation. Recommendations for areas of future research and development are identified. The results of this project will be beneficial to global organizations working on development of engineered systems for decommissioning applications by providing a focus on priority tasks. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

A matrix safety frame approach to robot safety for space applications

The planned use of autonomous robots in space applications has generated many new safety problems. This thesis assesses safety of autonomous robot systems through the structure of a proposed three-dimensional matrix safety frame. By identifying the common points of accidents and fatalities involving terrestrial robots, reviewing terrestrial robot safety standards, and modifying and extending these results to space applications, hazards are identified and their associated risks assessed. Three components of the safeguarding dimension of the matrix safety frame, safeguarding through design and operation for intrinsic safety, and incorporation of add-on safety systems are explained through examples for both terrestrial and space robots. A space robot hazard identification checklist, a qualitative tool for robot systems designers, is developed using the structure imparted by the matrix safety frame. The development of an expert system from the contents of the checklist is discussed.

Montgomery, T. D.↗

Real-time thickness measurement of MCC ablator material

One of the most favorable characteristics of the Space Shuttle Program is the reusability of two of its primary components: the orbiter itself and the Solid Rocket Boosters (SRB). The SRB's provide the primary source of propulsion for the Space Shuttle during take-off after which they are recovered for refurbishment and reuse. During refurbishment, the SRB's are stripped of all remaining ablative (heat resistant) coating. A new layer is applied to the appropriate sections (nose cone, frustum, forward skirt, and aft skirt). It is the process of applying the ablative coating which provided the impetus for this project. The thickness of this protective layer is considered to be of primary importance to the level of thermal protection provided. The objectives of this effort are to investigate possible techniques for measuring the thickness of MCC, and if possible to test the specific capabilities of those considered good candidates for implementation. The system would be able to take measurements in real-time as close to the spray gun as possible. This will allow the information to be used in the control of the process without an inordinate time delay between a measurement and its appropriate response. The thickness of the deposited material is to be measured with less than 0.100 in if uncertainty. This is the defined tolerance window for the ablator thickness. Finally, it must operate within the confines of the chamber which encloses the turntable, robot, and spray system, and therefore is required to be insensitive to, or at least maintainable in, that environment.

Greenway, R. Bryan, Jr.↗

Mars 2020 Perseverance Rover Surface Operations Commissioning Phase Overview

This paper presents work done by the Mars 2020 Project to plan, test, and execute the Mars 2020 Perseverance Rover surface operations commissioning phase. Immediately after the successful landing of Mars 2020 Perseverance rover at Jezero Crater on February 18, 2021, the rover autonomously initiated mission critical commanding necessary to transition the vehicle from a Cruise/EDL to Surface operations configuration. This began the surface operations commissioning phase, referred to as Surface Operations Transition (SOX). The objective of SOX phase is to establish vehicle health and safety and to verify that the operational characteristics of the vehicle, now operating in the Martian environment, are as-expected and safe to proceed into nominal operations. The SOX commissioning phase is organized into six logical sub-phases occurring in the following chronological order; (1) SOX1a, (2) FSW Transition, (3) SOX1b, (4) SOX2a, (5) Heli, (6) SOX2b. In total, the SOX commissioning phase was expected to take up-to 111 sols (Martian days). The Perseverance rover is an extremely complex, highly-integrated, robotic system-of-systems that requires numerous activities to incrementally and methodically verify their safe operations. This paper will discuss the development process used to plan, test, and execute the SOX commissioning phase for Mars 2020 Perseverance rover surface operations. We will discuss key challenges associated with SOX development as well as actual operations execution experience.

Koch, Justin↗

ISS-based Development of Elements and Operations for Robotic Assembly of A Space Solar Power Collector

We present a concept for an ISS-based optical system assembly demonstration designed to advance technologies related to future large in-space optical facilities deployment, including space solar power collectors and large-aperture astronomy telescopes. The large solar power collector problem is not unlike the large astronomical telescope problem, but at least conceptually it should be easier in principle, given the tolerances involved. We strive in this application to leverage heavily the work done on the NASA Optical Testbed Integration on ISS Experiment (OpTIIX) effort to erect a 1.5 m imaging telescope on the International Space Station (ISS). Specifically, we examine a robotic assembly sequence for constructing a large (meter diameter) slightly aspheric or spherical primary reflector, comprised of hexagonal mirror segments affixed to a lightweight rigidizing backplane structure. This approach, together with a structured robot assembler, will be shown to be scalable to the area and areal densities required for large-scale solar concentrator arrays.

astronomy↗

Overview of the Carnegie Mellon University Robotics Institute DOE Trainee-ship in Environmental Management - 17493

The Robotics Institute of Carnegie Mellon University (CMU), through support from the Department of Energy (DOE), is offering an Environmental Management (EM) Trainee-ship program that is shaped by the inherent challenges in EM-related missions and seeks to cultivate the technical foundation and practical skills required to address these challenges. The trainee-ship program includes multiple new fellows per year of support (MS and/or PhD students) and builds on the existing core robotics curricula while introducing specialized topics that ensure a thorough understanding of EM-relevant concerns. The trainee-ship incorporates supervised research opportunities with CMU faculty advisors and through collaborations with DOE national labs (Pacific Northwest National Laboratory and Savannah River National Laboratory). These research opportunities aim to produce specialists who have the skills required to envision, develop, and deploy autonomous and semi-autonomous systems that directly address DOE-EM needs. Specifically, the Robotics Institute identifies two specializations in addition to the three core areas that students must master in order to develop these kinds of systems: (1) a theory perspective of how to develop autonomous systems for applications in constrained environments, and (2) a practicum that challenges students to build systems that can operate in constrained EM-relevant environments. The DOE Trainee-ship in Robotics is formulated to provide a course of study that balances theory and practice with opportunities for field evaluation in collaboration with domain partners toward addressing relevant DOE-EM challenges through robotics. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

ISRU Soil Mechanics Vacuum Facility: Soil Bin Preparation and Simulant Strength Characterization

Testing in relevant environments is key to exploration mission hardware development. This is true on both the component level (in early development) and system level (in late development stages). During ISRU missions the hardware will interface with the soil (digging, roving, etc) in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, conditioned simulant bed. However, in earth-based granular media, such as lunar soil simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. The Vacuum Facility #13, a mid-size chamber (3.66m tall, 1.5m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64m deep by 0.914m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types have been used. An electric cone penetrometer was used to measure simulant strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5Torr, regardless of the pump rate. However, slow off gassing of the soil lead to long test times, a full week, to reach 10-5Torr. This work highlights the need for robotic machine-simulant hardware and operations in vacuum to expeditiously perform (sub-)systems tests.

Kleinhenz, Julie↗

Robotic control and inspection verification

Three areas of possible commercialization involving robots at the Kennedy Space Center (KSC) are discussed: a six degree-of-freedom target tracking system for remote umbilical operations; an intelligent torque sensing end effector for operating hand valves in hazardous locations; and an automatic radiator inspection device, a 13 by 65 foot robotic mechanism involving completely redundant motors, drives, and controls. Aspects concerning the first two innovations can be integrated to enable robots or teleoperators to perform tasks involving orientation and panal actuation operations that can be done with existing technology rather than waiting for telerobots to incorporate artificial intelligence (AI) to perform 'smart' autonomous operations. The third robot involves the application of complete control hardware redundancy to enable performance of work over and near expensive Space Shuttle hardware. The consumer marketplace may wish to explore commercialization of similiar component redundancy techniques for applications when a robot would not normally be used because of reliability concerns.

Davis, Virgil Leon↗

Trusted Autonomy for Space Flight Systems

NASA has long supported research on intelligent control technologies that could allow space systems to operate autonomously or with reduced human supervision. Proposed uses range from automated control of entire space vehicles to mobile robots that assist or substitute for astronauts to vehicle systems such as life support that interact with other systems in complex ways and require constant vigilance. The potential for pervasive use of such technology to extend the kinds of missions that are possible in practice is well understood, as is its potential to radically improve the robustness, safety and productivity of diverse mission systems. Despite its acknowledged potential, intelligent control capabilities are rarely used in space flight systems. Perhaps the most famous example of intelligent control on a spacecraft is the Remote Agent system flown on the Deep Space One mission (1998 - 2001). However, even in this case, the role of the intelligent control element, originally intended to have full control of the spacecraft for the duration of the mission, was reduced to having partial control for a two-week non-critical period. Even this level of mission acceptance was exceptional. In most cases, mission managers consider intelligent control systems an unacceptable source of risk and elect not to fly them. Overall, the technology is not trusted. From the standpoint of those who need to decide whether to incorporate this technology, lack of trust is easy to understand. Intelligent high-level control means allowing software io make decisions that are too complex for conventional software. The decision-making behavior of these systems is often hard to understand and inspect, and thus hard to evaluate. Moreover, such software is typically designed and implemented either as a research product or custom-built for a particular mission. In the former case, software quality is unlikely to be adequate for flight qualification and the functionality provided by the system is likely driven largely by the need to publish innovative work. In the latter case, the mission represents the first use of the system, a risky proposition even for relatively simple software.

Freed, Michael↗

Integration of the Kromek D3S Detector and Spot Robot For Secondary Inspections

Inspecting vehicles and containers for the presence of nuclear material is a challenging task for border control and security. When performed manually by inspectors, this task also has an associated risk of exposing the inspectors to unknown radiation. With the advent of agile, easy-to-program, quadruped robots like the Boston Dynamics Spot, automation of secondary inspection can improve the efficiency of the inspection process and alleviates the radiation risks to inspectors. In this project, Brookhaven National Laboratory and the University of Massachussetts at Lowell explored how to automate a simple secondary inspection mission. The Spot robot comes with its own software development kit (SDK) that allows clients/users to write custom code in the Python programming language to control the robot. Spot also has a payload computer called Spot-CORE, which runs the Ubuntu Linux operating system and allows users to integrate external sensors, such as a radiation detector, with Spot. In this study, the Kromek D3S detector has been integrated with Spot via the Spot-CORE, allowing Spot to capture gamma spectra and neutron counts for a specified acquisition period. Two custom routines, search and confirmation, have been developed and executed in this specified order. The search routine directs Spot to go around the nearest obstacle, e.g., vehicle and container, in a preset distance and step to collect gamma and neutron gross counts with the D3S detector. The radiation data and the robot location corresponding to each step are stored and fed to the confirmation routine at the end of the search. The confirmation routine then navigates Spot to the locations of the highest gamma or neutron counts to perform a long, e.g., one minute, measurement, and gives the operators the signature gamma spectra and neutron counts at the hotspots. This paper presents a detailed description of this automated system along with results of the preliminary tests in identifying the location and signature of a 137Cs radiation source in a vehicle.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Active control of robot manipulator compliance

Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

Nguyen, C. C.↗

Intelligent vehicle control: Opportunities for terrestrial-space system integration

For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

Shoemaker, Charles↗

NASA's Analog Missions: Driving Exploration Through Innovative Testing

Human exploration beyond low-Earth orbit (LEO) will require a unique collection of advanced, innovative technologies and the precise execution of complex and challenging operational concepts. One tool we in the Analog Missions Project at the National Aeronautics and Space Administration (NASA) utilize to validate exploration system architecture concepts and conduct technology demonstrations, while gaining a deeper understanding of system-wide technical and operational challenges, is our analog missions. Analog missions are multi-disciplinary activities that test multiple features of future spaceflight missions in an integrated fashion to gain a deeper understanding of system-level interactions and integrated operations. These missions frequently occur in remote and extreme environments that are representative in one or more ways to that of future spaceflight destinations. They allow us to test robotics, vehicle prototypes, habitats, communications systems, in-situ resource utilization, and human performance as it relates to these technologies. And they allow us to validate architectural concepts, conduct technology demonstrations, and gain a deeper understanding of system-wide technical and operational challenges needed to support crewed missions beyond LEO. As NASA develops a capability driven architecture for transporting crew to a variety of space environments, including the moon, near-Earth asteroids (NEA), Mars, and other destinations, it will use its analog missions to gather requirements and develop the technologies that are necessary to ensure successful human exploration beyond LEO. Currently, there are four analog mission platforms: Research and Technology Studies (RATS), NASA s Extreme Environment Mission Operations (NEEMO), In-Situ Resource Utilization (ISRU), and International Space Station (ISS) Test bed for Analog Research (ISTAR).

Reagan, Marcum L.↗