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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 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Flexible positioning of a large area detector using an industrial robot

The DIAD beamline for Dual Imaging and Diffraction at Diamond Light Source has opted to use an industrial robot to position its Dectris Pilatus 2M CdTe diffraction detector. This setup was chosen to enable flexible positioning of the detector in a quarter-sphere around the sample position whilst reliably holding the large weight of 139 kg of detector, detector mount and cabling in a stable position. Metrology measurements showed that the detector can be positioned with a linear repeatability of <19.7 µm and a rotational repeatability of <16.3 µrad. The detector position stays stable for a 12 h period with <10.1 µm of movement for linear displacement and <3.8 µrad for rotational displacement. X-ray diffraction from calibration samples confirmed that the robot is sufficiently stable to resolve lattice d-spacings within the instrumental broadening given by detector position and beam divergence.

36 MATERIALS SCIENCE↗
NASA NTRS2000

Tactile Sensing for Dexterous Robotic Hands

Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

Martin, Toby B.↗
DOE OSTI2018

Visual Servoing System for the Removal of the Elements of a Prefilter in a NPP - 18429

The maintenance of the prefilters of the condensate demineralizers in a BWR reactor nuclear plant, could represents a real problem given the substances (radioactive particles) captured by the filtering elements (called 'candles'). This trapped material can produce high doses on the personnel participating in this maintenance work. Thus, it is desirable to automate the maintenance activities required to remove the used filtering elements. Then we designed a robotic manipulator capable of detaching, one by one, the filtering elements from their fastening structure. The manipulator deposits the 'candles' into a container as they are detached, and at the end, it is automatically transported, to a storage area. The work here presented, proposes the application of the 'visual servoing control' technique to automate the operation of the robotic arm. This would minimize the intervention of human operators, reducing maintenance times and radiation dose to the personnel. The methodology is based on techniques of artificial vision and uses, in addition to a video camera, a device capable of generating a laser line, which when projected onto 3D space, creates what is known as a laser plane. This plane upon striking the candles will generate circumferential arcs in the video camera images, and these figures will be used to detect the 3D point that will guide the manipulator to take the filtering element. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

Machine Learning Algorithms for Automated NIF Capsule Mandrel Selection

Small shells, approximately 2 mm in diameter, made from Poly(α-methylstyrene) (PAMS) are used as mandrels in the production of glow discharge polymer capsules located at the center of inertial confinement fusion experiments. The visual inspection process of microscope images of these shell mandrels, including detection of micron-sized defects on the shell surface as well as the handling and sorting, is a very labor-intensive, repetitive, and highly subjective process that stands to benefit greatly from automation. As part of an effort to decrease the number of labor hours spent in capsule handling, inspection, and metrology, the development of robotic systems was presented in a paper by Carlson et al., “Automation in Target Fabrication” [Fusion Sci. Technol., Vol. 70, p. 274 (2016)]. The current work expands the automated image acquisition systems developed previously and adds the use of convolutional neural networks to select capsules best suited for use in the downstream production process. Through the use of these machine learning algorithms, the selection process becomes robust, repeatable, and operator independent. Finally, as an added benefit the system developed as part of this work is able to provide defect statistics on entire shell batches and feed this information upstream to the production team.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1986

Artificial intelligence planning applications for space exploration and space robotics

Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.

Rokey, Mark↗
NASA NTRS2024

Ultra-Light, Strong, and Self-Reprogrammable Mechanical Metamaterials

Versatile programmable materials have long been envisioned that can reconfigure themselves to adapt to changing use cases in adaptive infrastructure, space exploration, disaster response, and more. We introduce a robotic structural system as an implementation of programmable matter, with mechanical performance and scale on par with conventional high-performance materials and truss systems. Fiber reinforced composite truss-like building-blocks form strong, stiff, and lightweight lattice structures as mechanical metamaterials. Two types of mobile robots operate over the exterior surface and through the interior of the system, performing transport, placement, and reversible fastening using the intrinsic lattice periodicity for indexing and metrology. Leveraging programmable matter algorithms to achieve scalability in size and complexity, this system design enables robust collective automated assembly and reconfiguration of large structures with simple robots. We describe the system design and experimental results from a 256-unit cell assembly demonstration and lattice mechanical testing, as well as demonstration of disassembly and reconfiguration. The assembled structural lattice material exhibits ultra-light mass density (0.0103 g/cc) with high strength and stiffness for its weight (0.01117 MPa and 1.1129 MPa, respectively), a material performance realm appropriate for applications like space structures. With simple robots and structure, high mass-specific structural performance, and competitive throughput, this system demonstrates potential for self-reconfiguring autonomous metamaterials for diverse applications.

Robotics↗
DOE OSTI2025

A Behavioral Robotics Approach to Radiation Mapping Using Adaptive Sampling

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

Adams, Joel↗
NASA NTRS2006

A Modular Robotic System with Applications to Space Exploration

Modular robotic systems offer potential advantages as versatile, fault-tolerant, cost-effective platforms for space exploration, but a sufficiently mature system is not yet available. We describe the possible applications of such a system, and present prototype hardware intended as a step in the right direction. We also present elements of an automated design and optimization framework aimed at making modular robots easier to design and use, and discuss the results of applying the system to a gait optimization problem. Finally, we discuss the potential near-term applications of modular robotics to terrestrial robotics research.

Hancher, Matthew D.↗
NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗
DOE OSTI2022

Autonomous continuous flow reactor synthesis for scalable atom-precision

With new instrumentation design, robotics, and in-operando hyphenated analytical tool automation, the intelligent discovery of synthesis pathways is becoming feasible. It can potentially bridge the gap for the scale-up of new materials. In this article, we review current progress and describe a new system that uses an autonomous continuous flow chemistry framework to translate high-quality lead molecules and materials to quantities that can meet scalability demands. At the core is a continuous flow synthesis platform that can design its viable synthesis pathway to a particular molecule or material and then autonomously carry it out. This is realized by integrating: (1) A workflow/architecture for multimode chemical/materials characterization in-line. The in-line characterization modes are NMR, ESR, IR, Raman, UV-Vis, GC-MS, and HPLC, along with ex-situ modes for X-Ray and neutron scattering; (2) Integration for feedback/analysis/data storage of the control variables; (3) A core software stack that includes deep learning and reinforcement learning alongside quantum chemistry and molecular dynamics; (4) On-demand compute architectures that parse calculations to compute resources needed which include light-weight edge, mid-level edge (NVIDA DGX-2), and high-performance computing. We demonstrate preliminary results on how this autonomous reactor system can enhance our ability to deliver deuterated materials, copolymers, and site-substituted molecules.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2018

Dynamic Reflection Behaviors of Weld Pool Surface in Pulsed GTAW

Here in this paper, a method was studied to determine the weld pool penetration based on the dynamic behaviors of the weld pool surface. To this end, relative works were per- formed to observe, measure, and analyze the development of a weld pool through the imaged laser matrix dots and correlate the changes in the imaged dots to the weld pool penetration. It was found that during partial joint penetration, the imaged dot matrix on the weld pool was clear and bright, but became fuzzier and dimmer when critical/complete joint penetration was reached. Results showed this was related to the root damping force in partial penetration, which obstructed the oscillation of the weld pool and made the surface relatively still for imaging. When critical/complete joint penetration was reached, the root damping force was diminished, and thus the pool surface oscillation was stronger, which led to dimmer and fuzzier images. By quantifying the relation between the image grayness variations with the penetration stages, a method was found for the automated control of the welding process.

42 ENGINEERING↗
NASA NTRS1985

Vision requirements for Space Station applications

Problems which will be encountered by computer vision systems in Space Station operations are discussed, along with solutions be examined at Johnson Space Station. Lighting cannot be controlled in space, nor can the random presence of reflective surfaces. Task-oriented capabilities are to include docking to moving objects, identification of unexpected objects during autonomous flights to different orbits, and diagnoses of damage and repair requirements for autonomous Space Station inspection robots. The approaches being examined to provide these and other capabilities are television IR sensors, advanced pattern recognition programs feeding on data from laser probes, laser radar for robot eyesight and arrays of SMART sensors for automated location and tracking of target objects. Attention is also being given to liquid crystal light valves for optical processing of images for comparisons with on-board electronic libraries of images.

Crouse, K. R.↗
NASA NTRS1987

Autonomous control procedures for shuttle rendezvous proximity operations

The results are presented of a study which uses fuzzy sets to model a Space Shuttle pilot's reasoning and actions while performing rendezvous proximity operation maneuvers. In this model fuzzy sets are used to simulate smooth and continuous actions as would be expected from an experienced pilot and to simulate common sense reasoning in the decision process. The present model assumes visual information available to the Shuttle pilot from the Shuttle Crew Optical Alignment Sighting (COAS) device and the overhead window and rendezvous radar sensor information available to him from an onboard display. This model will be used in a flight analysis simulator to perform studies requiring a large number of runs, each of which currently needs an engineer in the loop to supply the piloting decisions. This work has much broader implications in control of robots such as the Flight Telerobotic Servicer, in automated pilot control and attitude control, and in advisory and evaluation functions that could be used for flight data monitoring or for testing of various rule sets in flight preparation.

Lea, Robert N.↗
NASA NTRS1992

Orbital Welding Head Held By Robot

Orbital welding head positioned by robot controls motion and voltage of arc-welding torch mounted in head. New head encircles part at torch end, and held and manipulated by robot arm at opposite end. Entire welding operation automated. Useful for operations in hazardous environments.

Gangl, Kenneth J.↗
NASA NTRS1994

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Hein, C.↗