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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Astrobee On-Orbit Commissioning

The Astrobee free flying robots operate autonomously inside the International Space Station (ISS) with oversight from a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee can also serve as a mobile camera/sensor platform for flight and payload controllers to improve ISS operations. Development began in late 2014, and flight hardware deployed to the ISS on several launches starting from November 2018 to October 2019. Shortly after the first two robots arrived in April 2019, we began a series of commissioning activities to validate the Astrobee robots. This paper reviews the Astrobee system and describes the on-orbit commissioning activities and results.

ISS↗
NASA NTRS2011

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗
NASA NTRS1993

Evolving directions in NASA's planetary rover requirements and technology

This paper reviews the evolution of NASA's planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

Weisbin, C. R.↗
NASA NTRS1992

Object impedance control for cooperative manipulation - Theory and experimental results

This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

Schneider, Stanley A.↗
NASA NTRS2022

Design of Rigid-Flex PCB Robotics Leveraging Validated Finite Element Simulations

The use of rigid-flex printed circuit board (PCB) as primary structure has the potential to reduce the weight and volume of robotic systems. In the case of robotics for interplanetary exploration, these systems can leverage origami-inspired folding for increased mobility options and reduced storage volume. Folding rigid-flex PCB robotics can be constructed with rigid PCB connected by short Nomex fabric hinges coupled with flex PCB ribbon cables that permits enhanced system flexibility and energy dissipation to promote impact survivability. This paper presents a design methodology of rigid-flex PCB systems with an emphasis on impact resistance. The design process considers solder joint adequacy, panel bending, and fracture using a finite element (FE) model. The proposed design methodology is developed using a case study with NASA JPL's Pop-Up Folding Flat Explorer Robot (PUFFER). First, the finite-element (FE) modeling methodology is presented with consideration to both frequency and time-domain modeling applications, which include operational self-contact analysis and high impact scenarios. The time-domain impact modeling methodology utilizes hyperelastic material properties for the Nomex hinges. This modeling method is validated using image correlation of PUFFER drop tests. A flowchart is presented to guide users through a validated Abaqus modeling procedure for highly flexible rigid-flex systems. Next, a case study is presented in which PUFFER is subject to drop heights representative of falls into Lunar pits and then the design is refined for a more optimum impact performance. Finally, the results of the case study are used to inform a generalized design methodology for rigid-flex PCB robotics subject to high-impact loads with the considerations presented.

John Bell↗
NASA NTRS2022

Design of Rigid-Flex PCB Robotics Leveraging Validated Finite Element Simulations

The use of rigid-flex printed circuit board (PCB) as primary structure has the potential to reduce the weight and volume of robotic systems. In the case of robotics for interplanetary exploration, these systems can leverage origamiinspired folding for increased mobility options and reduced storage volume. Folding rigid-flex PCB robotics can be constructed with rigid PCB connected by short Nomex fabric hinges coupled with flex PCB ribbon cables that permits enhanced system flexibility and energy dissipation to promote impact survivability. This paper presents a design methodology of rigidflex PCB systems with an emphasis on impact resistance. The design process considers solder joint adequacy, panel bending, and fracture using a finite element (FE) model. The proposed design methodology is developed using a case study with NASA JPL’s Pop-Up Folding Flat Explorer Robot (PUFFER). First, the finite-element (FE) modeling methodology is presented with consideration to both frequency and time-domain modeling applications, which include operational self-contact analysis and high impact scenarios. The time-domain impact modeling methodology utilizes hyperelastic material properties for the Nomex hinges. This modeling method is validated using image correlation of PUFFER drop tests. A flowchart is presented to guide users through a validated Abaqus modeling procedure for highly flexible rigid-flex systems. Next, a case study is presented in which PUFFER is subject to drop heights representative of falls into Lunar pits and then the design is refined for a more optimum impact performance. Finally, the results of the case study are used to inform a generalized design methodology for rigid-flex PCB robotics subject to high-impact loads with the considerations presented.

de la Croix, Jean-Pierre↗
DOE OSTI2020

GRANT: Ground-Roaming Autonomous Neuromorphic Targeter

In this work we describe the design, implementation, and testing of the first neuromorphic robot capable of obstacle avoidance, grid coverage, and targeting controlled by the second generation Dynamic Adaptive Neural Network Array (DANNA2) digital spiking neuromorphic processor. The simplicity of the DANNA2 processor along with the TENNLab hardware/software co-design framework allows for compact spiking networks that can run efficiently on a small, resource-constrained, platform such as a Xilinx Artix-7 field-programmable gate array. Additionally, we present the dynamic reconfigurability of DANNA2 arrays as a method of realizing complex, multi-objective tasks on hardware that is restricted to relatively small networks.

Ambrose, Jonathan↗
DOE OSTI2015

SU-C-BRB-04: Characteristics and Performance Evaluation of the First Commercial MLC for a Robotic Delivery System

Purpose: To assess characteristics and performance of the “Incise™” MLC (41 leaf pairs, 2.5mm width, FFF linac) mounted on the robotic SRS/SBRT platform “CyberKnife M6™” in a pre-clinical 5 months (11/2014–03/2015) test period. Methods: Beam properties were measured with unshielded diodes and EBT3 film. The CyberKnife workspace for MLC was analyzed by transforming robot node coordinates (cranial / body paths) into Euler geometry. Bayouth tests for leaf / bank position accuracy were performed in standard (A/P) and clinically relevant non-standard positions, before and after exercising the MLC for 10+ minutes. Total system and delivery accuracy were assessed in End-to-End tests and dosimetric verification of exemplary plans. Stability over time was evaluated in Picket-Fence-and adapted Winston-Lutz-tests (AQA) for different collimator angles. Results: Penumbrae (80–20%, with 100%=2*dose at inflection point; SAD 80cm; 10cm depth) parallel / perpendicular to leaf motion were 2.87/2.64mm for the smallest (0×76×0.75cm{sup 2}) and 5.34/4.94mm for the largest (9.76×9.75cm{sup 2}) square field. MLC circular field penumbrae exceeded fixed cones by 10–20% (e.g. 60mm: 4.0 vs. 3.6mm; 20mm: 3.6 vs. 2.9mm). Interleaf leakage was <0.5%. Clinically accessible workspace with MLC covered (non-coplanar) gantry angles of [-113°;+112°] (cranial) and [-108°;+102°] (body), and collimator angles of [-100°;+107°] (cranial) and [-91°;+100°] (body). Average leaf position offsets were ≤0.2mm in 14 standard A/P Bayouth tests and ≤0.6mm in 8 non-standard direction tests. Pre-test MLC exercise increased jaggedness (range ±0.3mm vs. ±0.5mm) and allowed to identify one malfunctioning leaf motor. Total system accuracy with MLC was 0.39±0.06mm in 6 End-to-End tests. Picket-Fence and AQA showed no adverse trends during the test period. Conclusion: The Incise™ MLC for CyberKnife M6™ displayed high accuracy and mechanical stability over the test period. The specific CyberKnife geometry and performance after exercise demand dedicated QA measures. This work is in part funded by a research grant from Accuray Inc, Sunnyvale, USA. Erasmus MC Cancer Institute also has research collaborations with Elekta AB, Stockholm, Sweden. C Fuerweger has previously received speaker honoraria from Accuray Inc, Sunnyvale, USA.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2019

The First Human Trial of Transoral Robotic Surgery Using a Single-Port Robotic System in the Treatment of Laryngo-Pharyngeal Cancer

Background: This study aimed to evaluate the feasibility and safety of the DaVinci SP system for performing transoral robotic surgery (TORS) in patients with head and neck cancer. Methods: From October 2018 to April 2019, the medical records of 41 patients who underwent TORS using the DaVinci SP system were retrospectively reviewed. Results: During TORS, three robotic arms could be used to perform a geometric resection of the lesion in a narrow working space. The mean total operation time was 60 min, and the average time required to set up the robotic system was 10 min or less. All patients successfully underwent TORS. All robotic arms were inserted through a single port, which widened the working space around the patient’s head and allowed the operative assistant an easy approach to the patient during the operation. The joggle joint of the robotic arms aided easy manipulation within the confined working space. The joggle joints of the endoscopic arm were controlled through the navigation system, which was very helpful in securing superior visualization of the surgical site, especially in the area of the larynx and the hypopharynx. Conclusion: The study confirmed that the DaVinci SP system provided technical advantages above the Si and Xi systems for performing TORS. It was especially helpful in ensuring proper visualization of the surgical field and in performing precise surgery during surgery to the tongue base or the hypopharyngeal lesion.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS2016

Moon Age and Regolith Explorer (MARE) Mission Design and Performance

The moon’s surface last saw a controlled landing from a U.S. spacecraft on December 11, 1972 with Apollo 17. Since that time, there has been an absence of methodical in-situ investigation of the lunar surface. In addition to the scientific value of measuring the age and composition of a relatively young portion of the lunar surface near Aristarchus Plateau, the Moon Age and Regolith Explorer (MARE) proposal provides the first U.S. soft lunar landing since the Apollo Program and the first ever robotic soft lunar landing employing an autonomous hazard detection and avoidance system, a system that promises to enhance crew safety and survivability during a manned lunar (or other) landing. This report focuses on the mission design and performance associated with the MARE robotic lunar landing subject to mission and trajectory constraints.

Condon, Gerald L.↗
NASA NTRSDate not supplied

Extensibility of PICA TPS for Future Sample Return Missions

Stardust was the first successful robotic sample return mission delivering samples of the Comet Wild 2 to Earth in 2006. Genesis followed Stardust, in the era of “faster, better, cheaper,” collecting samples of solar wind. The Genesis sample return capsule (SRC) was larger and the program did not have the time nor funding to scale up the Stardust PICA heatshield and so, utilized an alternate heatshield. The successful Stardust mission led to future mission concepts baselining Stardust EDL, especially the entry heatshield. OSIRIS REx, was one such concept and the mission was designed to include build-to-print elements of the Stardust design. The primary scale-up limitation beyond Stardust and OSIRIS REx is the single-piece net cast PICA heatshield. In the past three years, FMI working with NASA Ames, expanded the manufacturing capability of PICA and demonstrated a 1.3 m PICA single piece TPS. This was done in anticipation of the Mars Sample Return mission as well as future Sample Return missions requiring larger-scale SRCs. This effort also identified a sustainable domestic replacement precursor for the PICA preform as the heritage precursor was discontinued in 2016 and FMI has gone through multiple rayon replacements since Stardust. As part of the effort, PICA was also tested at conditions higher than the Stardust or OSIRIS REx entry envelope to establish an expanded performance envelope and enable future sample return missions at higher entry speeds. The poster will highlight PICA sustainability and extensibility as part of the Sample Return to Earth session.

PICA thermal protection↗
NASA NTRSDate not supplied

Lunar Resource Investigation With NASA's VIPER Mission

The VIPER mission will be NASA’s first mobile robotic lunar drilling and volatiles assessment mission bound for the lunar south pole. From a resources perspective, the data acquired through VIPER’s operation on the lunar surface will inform future Artemis missions. The VIPER mission will provide important geotechnical details as well as volatiles qualification and quantification. The VIPER mission instrumentation suite and the overall science mission objectives will be presented at the European Lunar Symposium 2024.

VIPER↗
DOE OSTI2017

System and method for controlling a vision guided robot assembly

A method includes the following steps: actuating a robotic arm to perform an action at a start position; moving the robotic arm from the start position toward a first position; determining from a vision process method if a first part from the first position will be ready to be subjected to a first action by the robotic arm once the robotic arm reaches the first position; commencing the execution of the visual processing method for determining the position deviation of the second part from the second position and the readiness of the second part to be subjected to a second action by the robotic arm once the robotic arm reaches the second position; and performing a first action on the first part using the robotic arm with the position deviation of the first part from the first position predetermined by the vision process method.

42 ENGINEERING↗
NASA NTRS2001

X-traktor: A Rookie Robot, Simple, Yet Complex, Impeccably Designed, a Very Innovative Multidisciplinary Engineering Masterpiece

FIRST is the acronym of For Inspiration and Recognition of Science and Technology. FIRST is a 501.C.3 non-profit organization whose mission is to generate an interest in science and engineering among today's young adults and youth. This mission is accomplished through a robot competition held annually in the spring of each year. NASAs Marshall Space Flight Center, Education Programs Department, awarded a grant to Lee High School, the sole engineering magnet school in Huntsville, Alabama. MSFC awarded the grant in hopes of fulfilling its goal of giving back invaluable resources to its community and engineers, as well as educating tomorrow's work force in the high-tech area of science and technology. Marshall engineers, Lee High School students and teachers, and a host of other volunteers and parents officially initiated this robot design process and competitive strategic game plan. The FIRST Robotics Competition is a national engineering contest, which immerses high school students in the exciting world of science and engineering. Teaming with engineers from government agencies, businesses, and universities enables the students to learn about the engineering profession. The students and engineers have six weeks to work together to brainstorm, design, procure, construct, and test their robot. The team then competes in a spirited, 'no-holds barred' tournament, complete with referees, other FIRST-designed robots, cheerleaders, and time clocks. The partnerships developed between schools, government agencies, businesses, and universities provide an exchange of resources and talent that build cooperation and expose students to new and rewarding career options. The result is a fun, exciting, and stimulating environment in which all participants discover the important connections between classroom experiences and real-world applications. This paper will highlight the story, engineering development, and evolutionary design of Xtraktor, the rookie robot, a manufacturing marvel and engineering achievement.

Henderson, A. J., Jr.↗
NASA NTRS2008

The Moon is a Planet Too: Lunar Science and Robotic Exploration

The first decades of the 21st century will be marked by major lunar science and exploration activities. The Moon is a witness to 4.5 billion years of solar system history, recording that history more completely and more clearly than any other planetary body. Lunar science encompasses early planetary evolution and differentiation, lava eruptions and fire fountains, impact scars throughout time, and billions of years of volatile input. I will cover the main outstanding issues in lunar science today and the most intriguing scientific opportunities made possible by renewed robotic and human lunar exploration. Barbara is a planetary scientist at NASA s Marshall Space Flight Center. She studies meteorites from the Moon, Mars and asteroids and has been to Antarctica twice to hunt for them. Barbara also works on the Mars Exploration Rovers Spirit and Opportunity and has an asteroid named after her. She is currently helping the Lunar Precursor Robotics Program on the Lunar Mapping and Modeling Project, a project tasked by the Exploration System Mission Directorate (ESMD) to develop maps and tools of the Moon to benefit the Constellation Program lunar planning. She is also supporting the Science Mission Directorate s (SMD) lunar flight projects line at Marshall as the co-chair of the Science Definition Team for NASA s next robotic landers, which will be nodes of the International Lunar Network, providing geophysical information about the Moon s interior structure and composition.

Cohen, Barbara↗
NASA NTRS1988

Robotic joint experiments under ultravacuum

First, various aspects of a robotic joint development program, including gearbox technology, electromechanical components, lubrication, and test results, are discussed. Secondly, a test prototype of the joint allowing simulation of robotic arm dynamic effects is presented. This prototype is tested under vacuum with different types of motors and sensors to characterize the functional parameters: angular position error, mechanical backlash, gearbox efficiency, and lifetime.

Borrien, A.↗
NASA NTRS2002

Pittsburgh Public School District / Carnegie Mellon University Robotics Team Participation in the US First Competition

FIRST, For Inspiration and Recognition of Science and Technology, is an international program designed to encourage junior and senior high school students to participate in science and technology related activities. FIRST attempts to increase enthusiasm for technology by providing a competitive environment in which to demonstrate robotics technology designed for a particular set of tasks. Carnegie Mellon University provided student members of the project the opportunity to complete the design, construction, testing, and operation of a robot. Electrical, mechanical, and programming skills were stressed, with both adult and senior students acting as mentors for more junior members. Teamwork and integration was also stressed in order to provide students with a realistic feel for project-based work. Finally, an emphasis was placed on recruiting students with greater difficulty in entering technological fields: girls and ethnic minorities and students leaning toward humanities (especially art). Carnegie Mellon built a relationship with Taylor Allderdice High School that lasted four years. For four years, the success of the project increased each year. Each term, the students successfully designed and built a working robot that could fully participate in the competition. The enthusiasm of the students has been the cornerstone of the recruit of new students, keeping the project growing and vital. Carnegie Mellon's participation with Allderdice has been an overall great success.

Stroupe, Ashley↗
NASA NTRS1991

IVA the robot: Design guidelines and lessons learned from the first space station laboratory manipulation system

The first interactive Space Station Freedom (SSF) lab robot exhibit was installed at the Space and Rocket Center in Huntsville, AL, and has been running daily since. IntraVehicular Activity (IVA) the robot is mounted in a full scale U.S. Lab (USL) mockup to educate the public on possible automation and robotic applications aboard the SSF. Responding to audio and video instructions at the Command Console, exhibit patrons may prompt IVA to perform a housekeeping task or give a speaking tour of the module. Other exemplary space station tasks are simulated and the public can even challenge IVA to a game of tic tac toe. In anticipation of such a system being built for the Space Station, a discussion is provided of the approach taken, along with suggestions for applicability to the Space Station Environment.

Konkel, Carl R.↗