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At least 757 records · Page 42

Biennial Research and Technology Development Report: Johnson Space Center

The Biennial Research and Technology Development Report is a compilation of advances in research and technology accomplished by Johnson Space Center (JSC) engineers and scientists. The articles contained within this report further JSC's and NASA's historical tradition of working with colleges and universities, industry, federal laboratories, and other research and technology development organizations for the betterment of humankind. This report is organized into10 broad categories: Human Health, Life Support and Habitation Systems, and Space Medicine; Human Exploration Systems, Technologies for Extravehicular Activity and Harsh Environments; Environmental Technologies; Materials, Structures, Development and Testing; Space Power, Energy Storage, and Propulsion; Robotics, Tele-Robotics, Autonomous Systems, and Software; Exploration, Planetary Science, and Sensor Systems; Flammability and Explosive Technologies; Space and Ground Operations; and Education and Outreach.

Lulla, Kamlesh↗

Yucca Mountain Waste Package Closure System Robotic Welding and Inspection System

The Waste Package Closure System (WPCS), for the closure of radioactive waste in canisters for permanent storage of spent nuclear fuel (SNF) and high-level waste in the Yucca Mountain Repository was designed, fabricated, and successfully demonstrated at the Idaho National Laboratory (INL). This article focuses on the robotic hardware and tools necessary to remotely weld and inspect the closure lid welds. The system was operated remotely and designed for use in a radiation field, due to the SNF contained in the waste packages being closed.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Advanced teleoperators

Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

Bejczy, A. K.↗

Automation and robotics human performance

The scope of this report is limited to the following: (1) assessing the feasibility of the assumptions for crew productivity during the intra-vehicular activities and extra-vehicular activities; (2) estimating the appropriate level of automation and robotics to accomplish balanced man-machine, cost-effective operations in space; (3) identifying areas where conceptually different approaches to the use of people and machines can leverage the benefits of the scenarios; and (4) recommending modifications to scenarios or developing new scenarios that will improve the expected benefits. The FY89 special assessments are grouped into the five categories shown in the report. The high level system analyses for Automation & Robotics (A&R) and Human Performance (HP) were performed under the Case Studies Technology Assessment category, whereas the detailed analyses for the critical systems and high leverage development areas were performed under the appropriate operations categories (In-Space Vehicle Operations or Planetary Surface Operations). The analysis activities planned for the Science Operations technology areas were deferred to FY90 studies. The remaining activities such as analytic tool development, graphics/video demonstrations and intelligent communicating systems software architecture were performed under the Simulation & Validations category.

Mah, Robert W.↗

Design of a telerobotic controller with joint torque sensors

The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.

Jansen, J. F.↗

High-Performance, Radiation-Hardened Electronics for Space Environments

The Radiation Hardened Electronics for Space Environments (RHESE) project endeavors to advance the current state-of-the-art in high-performance, radiation-hardened electronics and processors, ensuring successful performance of space systems required to operate within extreme radiation and temperature environments. Because RHESE is a project within the Exploration Technology Development Program (ETDP), RHESE's primary customers will be the human and robotic missions being developed by NASA's Exploration Systems Mission Directorate (ESMD) in partial fulfillment of the Vision for Space Exploration. Benefits are also anticipated for NASA's science missions to planetary and deep-space destinations. As a technology development effort, RHESE provides a broad-scoped, full spectrum of approaches to environmentally harden space electronics, including new materials, advanced design processes, reconfigurable hardware techniques, and software modeling of the radiation environment. The RHESE sub-project tasks are: SelfReconfigurable Electronics for Extreme Environments, Radiation Effects Predictive Modeling, Radiation Hardened Memory, Single Event Effects (SEE) Immune Reconfigurable Field Programmable Gate Array (FPGA) (SIRF), Radiation Hardening by Software, Radiation Hardened High Performance Processors (HPP), Reconfigurable Computing, Low Temperature Tolerant MEMS by Design, and Silicon-Germanium (SiGe) Integrated Electronics for Extreme Environments. These nine sub-project tasks are managed by technical leads as located across five different NASA field centers, including Ames Research Center, Goddard Space Flight Center, the Jet Propulsion Laboratory, Langley Research Center, and Marshall Space Flight Center. The overall RHESE integrated project management responsibility resides with NASA's Marshall Space Flight Center (MSFC). Initial technology development emphasis within RHESE focuses on the hardening of Field Programmable Gate Arrays (FPGA)s and Field Programmable Analog Arrays (FPAA)s for use in reconfigurable architectures. As these component/chip level technologies mature, the RHESE project emphasis shifts to focus on efforts encompassing total processor hardening techniques and board-level electronic reconfiguration techniques featuring spare and interface modularity. This phased approach to distributing emphasis between technology developments provides hardened FPGA/FPAAs for early mission infusion, then migrates to hardened, board-level, high speed processors with associated memory elements and high density storage for the longer duration missions encountered for Lunar Outpost and Mars Exploration occurring later in the Constellation schedule.

Keys, Andrew S.↗

Computer-Aided Remote Driving

System for remote control of robotic land vehicle requires only small radio-communication bandwidth. Twin video cameras on vehicle create stereoscopic images. Operator views cross-polarized images on two cathode-ray tubes through correspondingly polarized spectacles. By use of cursor on frozen image, remote operator designates path. Vehicle proceeds to follow path, by use of limited degree of autonomous control to cope with unexpected conditions. System concept, called "computer-aided remote driving" (CARD), potentially useful in exploration of other planets, military surveillance, firefighting, and clean-up of hazardous materials.

Wilcox, Brian H.↗

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or mars, requires robust systems to secure the payloads during transport on the ground, in space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗

Telerobotic Surgery: An Intelligent Systems Approach to Mitigate the Adverse Effects of Communication Delay

An extremely innovative approach has been presented, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller component to enhance the safety and efficiency of a remotely conducted operation. The use of a simulator enables the surgeon to operate in a virtual environment free from the impediments of telecommunication delay. The simulator functions as a predictor and periodically the simulator state is corrected with truth data. Three major research areas must be explored in order to ensure achieving the objectives. They are: simulator as predictor, image processing, and intelligent control. Each is equally necessary for success of the project and each of these involves a significant intelligent component in it. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of our team, to ensure an integrated system. The following is a brief discussion of those areas. Simulator as a predictor: The delays encountered in remote robotic surgery will be greater than any encountered in human-machine systems analysis, with the possible exception of remote operations in space. Therefore, novel compensation techniques will be developed. Included will be the development of the real-time simulator, which is at the heart of our approach. The simulator will present real-time, stereoscopic images and artificial haptic stimuli to the surgeon. Image processing: Because of the delay and the possibility of insufficient bandwidth a high level of novel image processing is necessary. This image processing will include several innovative aspects, including image interpretation, video to graphical conversion, texture extraction, geometric processing, image compression and image generation at the surgeon station. Intelligent control: Since the approach we propose is in a sense predictor based, albeit a very sophisticated predictor, a controller, which not only optimizes end effector trajectory but also avoids error, is essential. We propose to investigate two different approaches to the controller design. One approach employs an optimal controller based on modern control theory; the other one involves soft computing techniques, i.e. fuzzy logic, neural networks, genetic algorithms and hybrids of these.

Cardullo, Frank M.↗

Health Care Robotics: A Progress Report

This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The main emphasis of the first phase of the project is on the development on a multi-modal operator interface and its evaluation by health care professionals and users. This paper describes the architecture of the system, the evaluation method used, and some preliminary results of the user evaluation.

handicapped mobile robots↗

Integration of vision and robotic workcell

The paper discusses the incorporation of vision into a robotic cell to obtain cell status information and use this information to influence the robot operation. It discusses both mechanical and informational solutions to the operational issues which are present. The cell uses a machine vision system to determine information about part presence in the shipping tray, part location in the tray, and tray orientation. The vision system's edge detector algorithm is used to identify the orientation of the packing trays. In addition, different vision tools are used to determine if parts are present in the trays based on the unique configuration of the individual parts. The mechanical solutions discuss the handling of medium weight (10 - 25 lb.) parts at an average cycle time of 3.1 seconds per part. The robot gripper must handle 33 different models, three identical parts at a time. This is accomplished by using stacks of rotary actuators and slides between the stacks.

Bossieux, T. A.↗

A perception and manipulation system for collecting rock samples

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.

Choi, T.↗

Mineralogy and Astrobiology Detection Using Laser Remote Sensing Instrument

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100 m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20 km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters. OCIS codes: (120.0280) Remote sensing and sensors; (130.0250) Optoelectronics; (280.3640) Lidar; (300.2530) Fluorescence, laser-induced; (300.6450) Spectroscopy, Raman; (300.6365) Spectroscopy, laser induced breakdown

Abedin, M. Nurul↗

Advanced communications, tracking, robotic vision technology for space applications

Recent advancements in the areas of tracking, communications, and robotics vision sensors being pursued within NASA, as applicable to space programs, are presented. Optical and laser-based communications and tracking systems and applications to space programs are discussed. Communication systems for multiple access, broadband, high data rate, and efficient operations are given. Current efforts at 20/30 GHz and millimeter wave bands are summarized. The use of optical data processing in control system applications for rendezvous and docking is presented. Robotics vision, based on television, laser, and microwave sensors for space applications, is discussed. The fusion of these technologies for remote control, station keeping, tracking, inspection, and satellite repair is detailed.

Krishen, Kumar↗

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or Mars, requires robust systems to secure the payloads during transport on the ground, in-space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. National Institute of Aerospace, Hampton Va 23662 A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗

Demonstration of Prognostics-Enabled Decision Making Algorithms on a Hardware Mobile Robot Test Platform

Prognostics-enabled Decision Making (PDM) is an emerging research area that aims to integrate prognostic health information and knowledge about the future operating conditions into the process of selecting subsequent actions for the system. Previous work developing and testing PDM algorithms has been done in simulation; this paper describes the effort leading to a successful demonstration of PDM algorithms on a hardware mobile robot platform. The hardware platform, based on the K11 planetary rover prototype, was modified to allow injection of selected fault modes related to the rover’s electrical power subsystem. The PDM algorithms were adapted to the hardware platform, including development of a software module framework, a new route planner, and modifications to increase the algorithms’ robustness to sensor noise and system timing issues. A set of test scenarios was chosen to demonstrate the algorithms’ capabilities. The modifications to run with a hardware platform, the test scenarios, and the test results are described in detail. The results show a successful use of PDM algorithms on a hardware test platform to optimize mission planning in the presence of electrical system faults.

Prognosis↗

Standardized Action Modules for Humanoid Robot Control

Humanoid robots could reduce the risks of hazardous work by replacing humans in dangerous environments and they could be useful helpers in environments designed primarily for humans. Currently, no robot is capable enough to fulfill either of these roles for any practical application, and the Humanoid Project at the Jet Propulsion Laboratory's Bio-Inspired Technologies and Systems group is striving to change that. For this summer, our goal was to endow a Fujitsu HOAP 2 humanoid robot with the necessary intelligence and knowledge to autonomously assemble a cubical frame structure from tubular bars and corner joints. Performing such a complicated task requires that the robot have a robust control architecture that allows for a multitude of abilities and Operation modes. We have designed and implemented a modular control architecture that allows reusability of existing code and the integration of work by many team members into the larger control system while providing an easy way to implement later improvements. Such a control system has allowed us to achieve important milestones in the humanoid robot assembly task.

Csaszar, Ambrus↗

Control of a free-flying robot manipulator system

The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.

Alexander, H.↗