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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Robotic surgical devices, systems and related methods

Various medical devices and related systems, including robotic and/or in vivo medical devices, and various robotic surgical devices for in vivo medical procedures. Included herein, for example, is a robotic surgical system having a support beam positionable through an incision, and a robotic device having a device body, first and second rotating shoulder components coupled to the device body, and first and second robotic arms coupled to the first and second shoulder components, respectively.

Farritor, Shane↗
DOE OSTI2024

A New Approach to Robot Motor Control

This essay details the motor control improvements to Fermilab's Remote Viewing Robot (RVR). It is a robot tasked with remotely investigating issues within the accelerator tunnels at Fermilab. Initially controlled by a single Raspberry Pi that housed all the robot s operations, the RVR will now use a Raspberry Pi Pico W for its motor control. This was achieved using Pulse Width Modulation (PWM) to allow for precise speed and torque control for the robot. This enhances the robot s reliability. By addressing the challenge of navigating high radiation environments, the upgrade helps assist the RVR s goal of decreasing the need for human intervention in accelerator tunnels.

Lopez, Jacob↗
DOE OSTI2023

Metamodels for Rapid Analysis of Large Sets of Building Designs for Robotic Constructability: Technology Demonstration Using the NASA 3D Printed Mars Habitat Challenge

Disruptive robotic construction technologies such as additive deposition of cementitious materials like concrete (or "3D concrete printing") require the synchronous operation of multiple pieces of equipment in the production setup. In such an environment, it is crucial to simulate the robotic motions (for toolpath clashes) and the cementitious material behavior (for toolpath failures) to ensure fail-proof constructability of the envisioned building geometry. However, toolpath clash detection requires 4D simulations of the production setup, which are computationally graphics intensive, whereas toolpath failure detection requires actual 3D printing of test parts from the geometry to identify areas prone to failure while 3D printing, which is physically tedious. Both these processes, being computationally and physically intensive, have largely curtailed designers from simulating and exploring large sets of design options with varying geometries and toolpath configurations. To overcome this and allow designers to explore large sets of design possibilities, this paper proposes two novel computational metamodels capable of performing robotic toolpath clash detection and failure detection with significantly reduced times than the earlier approaches. The developed metamodels were used to rapidly simulate large sets of building design options for robotic constructability in the NASA 3D-Printed Mars Habitat Challenge.

clash detection↗
DOE OSTI2024

Design and testing of ultrasound probe adapters for a robotic imaging platform

Medical imaging-based triage is a critical tool for emergency medicine in both civilian and military settings. Ultrasound imaging can be used to rapidly identify free fluid in abdominal and thoracic cavities which could necessitate immediate surgical intervention. However, proper ultrasound image capture requires a skilled ultrasonography technician who is likely unavailable at the point of injury where resources are limited. Instead, robotics and computer vision technology can simplify image acquisition. As a first step towards this larger goal, here, we focus on the development of prototypes for ultrasound probe securement using a robotics platform. The ability of four probe adapter technologies to precisely capture images at anatomical locations, repeatedly, and with different ultrasound transducer types were evaluated across more than five scoring criteria. Testing demonstrated two of the adapters outperformed the traditional robot gripper and manual image capture, with a compact, rotating design compatible with wireless imaging technology being most suitable for use at the point of injury. Next steps will integrate the robotic platform with computer vision and deep learning image interpretation models to automate image capture and diagnosis. This will lower the skill threshold needed for medical imaging-based triage, enabling this procedure to be available at or near the point of injury.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

Community Outreach - Spot Robot Presentation

Los Alamos National Laboratory has recently obtained a Spot robot from Boston Dynamics to evaluate its suitability for work in and around laboratory facilities. Spot is a highly mobile quadruped robot capable of up to 90 minutes of operation. It can be outfitted with payloads up to 35 lbs. and supports both Boston Dynamics developed equipment, third party payloads, or custom developed payloads. One existing Boston Dynamics attachment is a robot arm that allows the robot to directly interact with its environment, open doors, turn valves, etc.

42 ENGINEERING↗
DOE OSTI2025

Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]

Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.

42 - ENGINEERING↗
DOE OSTI2026

A Smart Vision-Aided RICH (Robotic Interface Control and Handling) System for VULCAN

High-flux neutron beams and high-efficiency detectors enable rapid neutron diffraction measurements at the Engineering Materials Diffractometer (VULCAN) at the Spallation Neutron Source (SNS), Oak Ridge National Laboratory (ORNL). To optimize beam time utilization, efficient sample exchange, alignment, and automated measurements are essential. Recent advances in artificial intelligence (AI) have expanded the capabilities of robotic systems. Here, we report the development of a Robotic Interactive Control and Handling (RICH) system for sample handling at VULCAN, designed to support high-throughput experiments and reduce overhead time. The RICH system employs a six-axis desktop robot integrated with AI-based computer vision models capable of recognizing and localizing samples in real time from instrument and depth-resolving cameras. Vision algorithms combine these detections to align samples with designated measurement positions or place them within complex sample environments such as furnaces. This integration of machine learning-assisted vision with robotic handling demonstrates the feasibility of autonomous sample detection and preparation, offering a pathway toward fully unmanned neutron scattering experiments.

automation↗
DOE OSTI2022

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↗
DOE OSTI2021

Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Concrete additive manufacturing (AM) is a growing field of research. However, on-site, large-scale concrete additive manufacturing requires motion platforms that are difficult to implement with conventional rigid-link robotic systems. This article presents a new kinematic arrangement for a deployable cable-driven robot intended for on-site AM. The kinematics of this robot are examined to determine if they meet the requirements for this application, the wrench feasible workspace (WFW) is examined, and the physical implementation of a prototype is also presented. Data collected from the physical implementation of the proposed system are analyzed, and the results support its suitability for the intended application. The success of this system demonstrates that this kinematic arrangement is promising for future deployable AM systems.

36 MATERIALS SCIENCE↗
DOE OSTI2024

The need for reproducible research in soft robotics

In recent years we have witnessed the rise of commercialization efforts for soft robotic technology, including soft grippers (Soft Robotics, Inc.), stretchable sensors (StretchSense, Inc. and Lightlace, Inc.), and platforms for human-robot interaction (Festo Inc., Meta Reality Labs, Toyota Research Institute, and Disney Research). However, commercialization as a whole lags the trends enjoyed by other robotic technology at equivalent points in their respective lifecycles.

43 PARTICLE ACCELERATORS↗
DOE OSTI2024

Navigating phase diagram complexity to guide robotic inorganic materials synthesis

Abstract Efficient synthesis recipes are needed to streamline the manufacturing of complex materials and to accelerate the realization of theoretically predicted materials. Often, the solid-state synthesis of multicomponent oxides is impeded by undesired by-product phases, which can kinetically trap reactions in an incomplete non-equilibrium state. Here we report a thermodynamic strategy to navigate high-dimensional phase diagrams in search of precursors that circumvent low-energy, competing by-products, while maximizing the reaction energy to drive fast phase transformation kinetics. Using a robotic inorganic materials synthesis laboratory, we perform a large-scale experimental validation of our precursor selection principles. For a set of 35 target quaternary oxides, with chemistries representative of intercalation battery cathodes and solid-state electrolytes, our robot performs 224 reactions spanning 27 elements with 28 unique precursors, operated by 1 human experimentalist. Our predicted precursors frequently yield target materials with higher phase purity than traditional precursors. Robotic laboratories offer an exciting platform for data-driven experimental synthesis science, from which we can develop fundamental insights to guide both human and robotic chemists.

Chen, Jiadong (ORCID:0009000476038838)↗
DOE OSTI2021

Argonaut - A Robotic System for Cryogenic Environments

Fermilab and the HEP community invest significant resources into liquid argon detectors. The largest and most expensive of these detectors will be located in the Deep Underground Neutrino Experiment (DUNE). However, recent experiences have shown that there are limited avenues of monitoring, intervention, and interaction in the internal liquid environment. This proposal shows a technological path that could provide a valuable tool to ensure or at least improve the management of these HEP detectors. The development of a robotic system named Argonaut will demonstrate several technologies including 1) demonstration of suitable mobility of a small robotic device at liquid argon temperatures, 2) demonstration of wireless communication, 3) demonstration of improved diagnostics capabilities - such as tunable optics with motion control, 4) demonstration of interconnectivity of a robotic system with hardware residing within the detector. This initial research will be a seed for extended development in cold robotics and associated technologies. This work will allow FNAL to contribute a significant technology capability to recent efforts to cryogenic detector operations.

43 PARTICLE ACCELERATORS↗
DOE OSTI2021

Using ROS for Robotic Control [Slides]

The use of robots is important, to help prevent people from being exposed to hazardous materials within a glovebox. The research proposal for the summer was to make a pick and place demo for a seven degrees-of-freedom Motoman Sia5d robot. The Robot Operating System (ROS) was used and the knowledge of C++ and Linux had to be applied. The robot was used to pick up and sort four objects (cylinder, sphere, rectangular prism, and cone) within a virtual environment.

42 ENGINEERING↗
DOE OSTI2022

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex electrical-thermal-mechanical interactions and hysteresis. This article proposes a framework for in-situ sensing and dynamics modeling of actuator states, particularly temperature of SMA wires, which is used to predict robot motions. A planar soft limb is developed, actuated by a pair of SMA coils, that includes compact and robust sensors for temperature and angular deflection. Data from these sensors are used to train a neural network-based on the long short-term memory (LSTM) architecture to model both unidirectional (single SMA) and bidirectional (both SMAs) motion. Predictions from the model demonstrate that data from the temperature sensor, combined with control inputs, allow for dynamics predictions over extraordinarily long open-loop timescales (10 min) with little drift. Prediction errors are on the order of the soft deflection sensor’s accuracy. This architecture allows for compact designs of electrothermally-actuated soft robots that include sensing sufficient for motion predictions, helping to bring these robots into practical application.

Sabelhaus, Andrew P.↗
DOE OSTI2020

Tracking Robot Location for Non-Destructive Evaluation of Double-Shell Tanks

(1) Background: Non-destructive evaluation of double-shell nuclear-waste storage tanks at the U.S. Department of Energy’s Hanford site requires a robot to navigate a network of air slots in the confined space between primary and secondary tanks. Situational awareness, data collection, and data interpretation require continuous tracking of the robot’s location. (2) Methods: Robot location is continuously monitored using video image analysis for short distances and laser ranging for absolute location. (3) Results: The technique was demonstrated in our laboratory using a mockup of air slot and robot. (4) Conclusions: Location tracking and display provide decision support to inspectors and lay the groundwork for automated data collection.

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

Resilient, untethered soft robot

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.

42 ENGINEERING↗
DOE OSTI2020

Radioactive Cleaning Robot

Here at Fermi National Accelerator Laboratory, particle accelerators are constantly running, giving off excess radioactive dust. This dust can be extremely harmful to people and the environment, posing numerous issues. The goal of this project is to conceptualize an automated cleaning solution. With this main goal in mind, the project started with a brainstorming session. The main concept relied on the use of a powder distributing system paired with a vacuum to easily attract and trap the dust. From this main concept, multiple sketches were produced, showing a robot with pieced-together systems. With the initial idea down, each subsystem could be brought further with the inner workings being sketched out. After sketches and proof of concept were polished, the next step was to begin 3D modeling, using NX, to bring life into the sketches. With every day came new ideas, modifying the previous sketches and models as necessary. Soon after the bigger structures were fleshed out, the focus could be shifted onto the less pressing subsystems. Adding a conveyor belt and spinning brush attachment to the powder hopper allowed for more even powder distribution. Along with that, the addition of spring-loaded brushes on the vacuum nozzle ensures constant dust agitation, improving overall functionality. A few other quality of life improvements, such as a removable dust reservoir with a ramp gave a push towards real life functionality. After considering the logistics of this robot functioning in real-life, pressure plates were provided to stop the robot from crashing into its surroundings. Having all of the individual models lead to an overall assembly. Making this robot programmable allowed for this project to meet the design requirements, providing a solution to the previous dilemma.

43 PARTICLE ACCELERATORS↗