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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS2010

Development and Evaluation of Sensor Concepts for Ageless Aerospace Vehicles: Report 6 - Development and Demonstration of a Self-Organizing Diagnostic System for Structural Health Monitoring

This report describes a significant advance in the capability of the CSIRO/NASA structural health monitoring Concept Demonstrator (CD). The main thrust of the work has been the development of a mobile robotic agent, and the hardware and software modifications and developments required to enable the demonstrator to operate as a single, self-organizing, multi-agent system. This single-robot system is seen as the forerunner of a system in which larger numbers of small robots perform inspection and repair tasks cooperatively, by self-organization. While the goal of demonstrating self-organized damage diagnosis was not fully achieved in the time available, much of the work required for the final element that enables the robot to point the video camera and transmit an image has been completed. A demonstration video of the CD and robotic systems operating will be made and forwarded to NASA.

Batten, Adam↗
NASA NTRS2004

The Miniature Autonomous Extravehicular Robotic Camera (MiniAERCam) for Spacecraft Inspection and Remote

AERCam is a nano-satellite class free-flying spacecraft with a full suite of avionics, propulsion, navigation, and communications. 1) 3 major development programs, one ending in DTO of protoflight unit, other two ending in ground demonstrations with integrated hardware and software. 2) Incremental increase in capability to reduce crew workload, provide better inspection capability. 3) Two crew evaluations and 4) Significant technology advancement.

Mitchell, Jennifer D.↗
NASA NTRS2021

Mathematical Model Development and Experimental Verification of Electromagnetic Force Actuators for use in Space Applications

This technical memorandum shows the development of the mathematics needed to model several types of electromagnetic force actuators that may be of interest for use in space applications. The actuators described are capable of providing attractive, repulsive, and longitudinal forces between the actuator and a variety of metal surfaces. Potential applications for these propellant free actuators include spacecraft docking, in-space fabrication, robotic spacecraft inspection and servicing, deflection of metallic debris, and interaction with iron core asteroids (e.g., landing, repelling, and relocating).

Robert C. Youngquist↗
NASA NTRS1999

Automatic Inspection of Aircraft Using Open-Architecture Robotic Platforms

Aging aircraft structures and composite materials are requiring rapid inspection of large areas. Removal from the aircraft for NDE at an inspection facility is not economical as compared to field inspection. Detection and characterization of defects are labor intensive, time consuming and when the process is manual the results are subjected to human error. These limitations of NDE created a need for portable, user friendly inspection systems that can rapidly scan large areas of complex structures and locate all the detrimental material conditions. Addressing this need has been an evolutionary process that followed the technology trend, and unique devices were developed to allow rapid field inspection. This development involves multi-disciplinary approaches to integrate NDE, telerobotics, neural networks, advanced materials science, imbedded computing and automated control. These efforts have led to the development of various portable inspection systems and the current trend is towards fully automatic systems that will operate autonomously.

Bar-Cohen, Yoseph↗
NASA NTRS2006

Space Robotics: AWIMR an Overview

This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.

Wagner, Rick↗
NASA NTRS2007

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Wong, Edmond↗
NASA NTRS2004

Command and Telemetry Latency Effects on Operator Performance during International Space Station Robotics Operations

International Space Station (ISS) operations will require the on-board crew to perform numerous robotic-assisted assembly, maintenance, and inspection activities. Current estimates for some robotically performed maintenance timelines are disproportionate and potentially exceed crew availability and duty times. Ground-based control of the ISS robotic manipulators, specifically the Special Purpose Dexterous Manipulator (SPDM), is being examined as one potential solution to alleviate the excessive amounts of crew time required for extravehicular robotic maintenance and inspection tasks.

Currie, Nancy J.↗
NASA NTRS1993

A Graphical Operator Interface for a Telerobotic Inspection System

Operator interface has recently emerged as an important element for efficient and safe operatorinteractions with the telerobotic system. Recent advances in graphical user interface (GUI) andgraphics/video merging technologies enable development of more efficient, flexible operatorinterfaces. This paper describes an advanced graphical operator interface newly developed for aremote surface inspection system at Jet Propulsion Laboratory. The interface has been designed sothat remote surface inspection can be performed by a single operator with an integrated robot controland image inspection capability. It supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

Kim, W. S.↗
NASA NTRS1995

Surface contamination analysis technology team overview

A team was established which consisted of representatives from NASA (Marshall Space Flight Center and Langley Research Center), Thiokol Corporation, the University of Alabama in Huntsville, AC Engineering, SAIC, Martin Marietta, and Aerojet. The team's purpose was to bring together the appropriate personnel to determine what surface inspection techniques were applicable to multiprogram bonding surface cleanliness inspection. In order to identify appropriate techniques and their sensitivity to various contaminant families, calibration standards were developed. Producing standards included development of consistent low level contamination application techniques. Oxidation was also considered for effect on inspection equipment response. Ellipsometry was used for oxidation characterization. Verification testing was then accomplished to show that selected inspection techniques could detect subject contaminants at levels found to be detrimental to critical bond systems of interest. Once feasibility of identified techniques was shown, selected techniques and instrumentation could then be incorporated into a multipurpose inspection head and integrated with a robot for critical surface inspection. Inspection techniques currently being evaluated include optically stimulated electron emission (OSEE); near infrared (NIR) spectroscopy utilizing fiber optics; Fourier transform infrared (FTIR) spectroscopy; and ultraviolet (UV) fluorescence. Current plans are to demonstrate an integrated system in MSFC's Productivity Enhancement Complex within five years from initiation of this effort in 1992 assuming appropriate funding levels are maintained. This paper gives an overview of work accomplished by the team and future plans.

Burns, H. Dewitt↗
NASA NTRS2007

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

Under the direction of NASA's Exploration Technology Development Program, robots and space suited subjects from several NASA centers recently completed a very successful demonstration of coordinated activities indicative of base camp operations on the lunar surface. For these activities, NASA chose a site near Meteor Crater, Arizona close to where Apollo Astronauts previously trained. The main scenario demonstrated crew returning from a planetary EVA (extra-vehicular activity) to a temporary base camp and entering a pressurized rover compartment while robots performed tasks in preparation for the next EVA. Scenario tasks included: rover operations under direct human control and autonomous modes, crew ingress and egress activities, autonomous robotic payload removal and stowage operations under both local control and remote control from Houston, and autonomous robotic navigation and inspection. In addition to the main scenario, participants had an opportunity to explore additional robotic operations: hill climbing, maneuvering heaving loads, gathering geo-logical samples, drilling, and tether operations. In this analog environment, the suited subjects and robots experienced high levels of dust, rough terrain, and harsh lighting.

Diftler, M. A.↗
NASA NTRS2004

NASA Tech Briefs, February 2004

Topics include: Simulation Testing of Embedded Flight Software; Improved Indentation Test for Measuring Nonlinear Elasticity; Ultraviolet-Absorption Spectroscopic Biofilm Monitor; Electronic Tongue for Quantitation of Contaminants in Water; Radar for Measuring Soil Moisture Under Vegetation; Modular Wireless Data-Acquisition and Control System; Microwave System for Detecting Ice on Aircraft; Routing Algorithm Exploits Spatial Relations; Two-Finger EKG Method of Detecting Evasive Responses; Updated System-Availability and Resource-Allocation Program; Routines for Computing Pressure Drops in Venturis; Software for Fault-Tolerant Matrix Multiplication; Reproducible Growth of High-Quality Cubic-SiC Layers; Nonlinear Thermoelastic Model for SMAs and SMA Hybrid Composites; Liquid-Crystal Thermosets, a New Generation of High-Performance Liquid-Crystal Polymers; Formulations for Stronger Solid Oxide Fuel-Cell Electrolytes; Simulation of Hazards and Poses for a Rocker-Bogie Rover; Autonomous Formation Flight; Expandable Purge Chambers Would Protect Cryogenic Fittings; Wavy-Planform Helicopter Blades Make Less Noise; Miniature Robotic Spacecraft for Inspecting Other Spacecraft; Miniature Ring-Shaped Peristaltic Pump; Compact Plasma Accelerator; Improved Electrohydraulic Linear Actuators; A Software Architecture for Semiautonomous Robot Control; Fabrication of Channels for Nanobiotechnological Devices; Improved Thin, Flexible Heat Pipes; Miniature Radioisotope Thermoelectric Power Cubes; Permanent Sequestration of Emitted Gases in the Form of Clathrate Hydrates; Electrochemical, H2O2-Boosted Catalytic Oxidation System; Electrokinetic In Situ Treatment of Metal-Contaminated Soil; Pumping Liquid Oxygen by Use of Pulsed Magnetic Fields; Magnetocaloric Pumping of Liquid Oxygen; Tailoring Ion-Thruster Grid Apertures for Greater Efficiency; and Lidar for Guidance of a Spacecraft or Exploratory Robot.

Source record↗
NASA NTRS1990

Robot tracking system improvements and visual calibration of orbiter position for radiator inspection

The following separate topics are addressed: (1) improving a robotic tracking system; and (2) providing insights into orbiter position calibration for radiator inspection. The objective of the tracking system project was to provide the capability to track moving targets more accurately by adjusting parameters in the control system and implementing a predictive algorithm. A computer model was developed to emulate the tracking system. Using this model as a test bed, a self-tuning algorithm was developed to tune the system gains. The model yielded important findings concerning factors that affect the gains. The self-tuning algorithms will provide the concepts to write a program to automatically tune the gains in the real system. The section concerning orbiter position calibration provides a comparison to previous work that had been performed for plant growth. It provided the conceptualized routines required to visually determine the orbiter position and orientation. Furthermore, it identified the types of information which are required to flow between the robot controller and the vision system.

Tonkay, Gregory↗
NASA NTRS1991

Robotics in space-age manufacturing

Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

Jones, Chip↗
NASA NTRS2005

Self-Examination

The operation of the new U.S./Canadian Orbiter Boom Sensor System (OBSS) by the STS-114 Discovery's crew "will be the most complicated space robotics job of the shuttle program," say Paul Hill, lead flight director. The OBSS is a laser-and-imaging-sensor- equipped 50-ft. extension to the existing 50-ft. arm, increasing the shuttle's reach to 100 ft. The return-to-flight mission will debut the autonomous robotic self-inspection capability to detect and possibly aid the repair of the type of damage that doomed Columbia and her crew, were it to occur again. With 3D imaging and laser contour-mapping capability, the OBSS will enable the diagnosis of cracks in reinforced carbon-carbon (RCC) wing and nose areas and thermal protection system (TPS) tiles beyond the view of the standard manipulator arm. Given the major changes to the shuttle external tank, no damage is expected. But the OBSS is a direct response to the Columbia Accident Investigation Board's recommendations. The new boom and a significant amount of its supporting software was developed by MacDonald Dettwiler heads. Space and Advanced Robotics Ltd. (MD Robotics) in Brampton, Ontario, a key contractor in the shuttle program for 25 years. The Canadian Space Agency is also heavily involved in supporting shuttle and International Space Station (ISS) robotics.

Covault, Craig↗
NASA NTRS1993

An operator interface design for a telerobotic inspection system

The operator interface has recently emerged as an important element for efficient and safe interactions between human operators and telerobotics. Advances in graphical user interface and graphics technologies enable us to produce very efficient operator interface designs. This paper describes an efficient graphical operator interface design newly developed for remote surface inspection at NASA-JPL. The interface, designed so that remote surface inspection can be performed by a single operator with an integrated robot control and image inspection capability, supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

Kim, Won S.↗
NASA NTRS2007

Automated Eddy Current Inspection on Space Shuttle Hardware

Over the life time of the Space Shuttle program, metal parts used for the Reusable Solid Rocket Motors (RSRMs) have been nondestructively inspected for cracks and surface breaking discontinuities using magnetic particle (steel) and penetrant methods. Although these inspections adequately screened for critical sized cracks in most regions of the hardware, it became apparent after detection of several sub-critical flaws that the processes were very dependent on operator attentiveness and training. Throughout the 1990's, eddy current inspections were added to areas that had either limited visual access or were more fracture critical. In the late 1990's. a project was initiated to upgrade NDE inspections with the overall objective of improving inspection reliability and control. An automated eddy current inspection system was installed in 2001. A figure shows one of the inspection bays with the robotic axis of the system highlighted. The system was programmed to inspect the various case, nozzle, and igniter metal components that make up an RSRM. both steel and aluminum. For the past few years, the automated inspection system has been a part of the baseline inspection process for steel components. Although the majority of the RSRM metal part inventory ts free of detectable surface flaws, a few small, sub-critical manufacturing defects have been detected with the automated system. This paper will summarize the benefits that have been realized with the current automated eddy current system, as well as the flaws that have been detected.

Hartmann, John↗