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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 775 records · Page 43

All sources NASA NTRS DOE OSTI

DOE OSTI2019

Enhanced Techniques for Concrete Decontamination During Decommissioning - 19005

As the primary material of construction for nuclear power plant structures, concrete naturally represents the largest fraction of contaminated material by surface area. As such, decontamination of concrete is a major activity during decommissioning projects. As reported in EPRI 3002005412, Characterization and Remediation of Contaminated Concrete, currently used techniques for decontamination of contaminated concrete are generally slow and labor-intensive to apply. This report notes that little change to the techniques used for concrete decontamination have been made during the past 20 years. There is a clear need for improvement to the techniques available for decontamination of concrete. Needed enhancements include substantial improvements in efficiency, waste management, industrial safety, and worker radiation exposure. Potential areas for development include increased automation of existing techniques, improvement in delivery systems for decontamination equipment, and further development of alternative techniques such as microwave and laser scabbling, and nitrogen blasting. To address this need, EPRI is conducting a project to develop enhanced techniques for concrete decontamination. The project focuses on two primary areas: 1. Adaption of existing techniques to improve efficiency through automation and/or altering the delivery systems for the decontamination equipment (for example, through use of exiting robotic systems); and 2. Field demonstration of technologies currently in the engineering development stage, such as nitrogen blasting and laser scabbling. This paper will report the initial results of this EPRI project, which includes identification of promising candidate technologies that will be demonstrated during the next project phase. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2025

Automated tabletop exfoliation and identification of monolayer graphene flakes

Over the past two decades, graphene has been intensively studied because of its remarkable mechanical, optical, and electronic properties. Initial studies were enabled by manual “Scotch Tape” exfoliation; nearly two decades later, this method is still widely used to obtain chemically pristine flakes of graphene and other 2D van der Waals materials. Unfortunately, the yield of large, pristine flakes with uniform thickness is inconsistent. Thus, significant time and effort are required to exfoliate and locate flakes suitable for fabricating multilayer van der Waals heterostructures. Here, we describe a relatively affordable tabletop device (the “eXfoliator”) that can reproducibly control key parameters and largely automate the exfoliation process. In a typical exfoliation run, the eXfoliator produces 3 or more large (≥ 400 μm 2 ) high-quality graphene monolayer flakes, allowing new users to produce such flakes at a rate comparable to manual exfoliation by an experienced user. Furthermore, we use an automated mapping system and a computer vision algorithm to locate candidate flakes. Our results provide a starting point for future research efforts to identify more precisely which parameters matter for the success of exfoliation and to optimize them.

47 OTHER INSTRUMENTATION↗

NASA NTRS1991

High pressure water jet cutting and stripping

High pressure water cutting techniques have a wide range of applications to the American space effort. Hydroblasting techniques are commonly used during the refurbishment of the reusable solid rocket motors. The process can be controlled to strip a thermal protective ablator without incurring any damage to the painted surface underneath by using a variation of possible parameters. Hydroblasting is a technique which is easily automated. Automation removes personnel from the hostile environment of the high pressure water. Computer controlled robots can perform the same task in a fraction of the time that would be required by manual operation.

Hoppe, David T.↗

NASA NTRS1993

Test-Matrix Sequencer

Repetitive tasks in laboratory tests automated to increase productivity. Test-matrix sequencer is digital/analog electronic system providing for automatic implementation of multiple interrelated sequences of test conditions in laboratory experiment. Designed for use in testing aeronautical propulsion systems in wind tunnels, has potential for use in automated testing laboratories in general, sequencing of servo-controlled actuators, and programming of robotic manipulators.

Mccartney, Timothy P.↗

NASA NTRS1990

Fallout from the Shuttle Arm

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

Source record↗

NASA NTRS1986

Development of sensor augmented robotic weld systems for aerospace propulsion system fabrication

In order to meet stringent performance goals for power and reuseability, the Space Shuttle Main Engine was designed with many complex, difficult welded joints that provide maximum strength and minimum weight. To this end, the SSME requires 370 meters of welded joints. Automation of some welds has improved welding productivity significantly over manual welding. Application has previously been limited by accessibility constraints, requirements for complex process control, low production volumes, high part variability, and stringent quality requirements. Development of robots for welding in this application requires that a unique set of constraints be addressed. This paper shows how robotic welding can enhance production of aerospace components by addressing their specific requirements. A development program at the Marshall Space Flight Center combining industrial robots with state-of-the-art sensor systems and computer simulation is providing technology for the automation of welds in Space Shuttle Main Engine production.

Jones, C. S.↗

DOE OSTI2019

Cath Lab Robotics: Paradigm Change in Interventional Cardiology?

Purpose of Review: To review the contemporary evidence for robotic-assisted percutaneous coronary and vascular interventions, discussing its current capabilities, limitations, and potential future applications. Recent Findings: Robotic-assisted cardiovascular interventions significantly reduce radiation exposure and orthopedic strains for interventionalists, while maintaining high rates of device and clinical success. The PRECISE and CORA-PCI studies demonstrated the safety and efficacy of robotic-assisted percutaneous coronary intervention (PCI) in increasingly complex coronary lesions. The RAPID study demonstrated similar findings in peripheral vascular interventions (PVI). Subsequent studies have demonstrated the safety and efficacy of second-generation devices, with automations mimicking manual PCI techniques. While innovations such as telestenting continue to bring excitement to the field, major limitations remain—particularly the lack of randomized trials comparing robotic-assisted PCI with manual PCI. Summary: Robotic technology has successfully been applied to multiple cardiovascular procedures. There are limited data to evaluate outcomes with robotic-assisted PCI and other robotic-assisted cardiovascular procedures, but existing data show some promise of improving the precision of PCI while decreasing occupational hazards associated with radiation exposure.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2020

Performance Evaluation of Augmented Teleoperation of Contact Manipulation Tasks

At Argonne National Laboratory, an enhanced telerobotic concept has been suggested by providing augmented virtual fixtures for precise and dexterous manipulation. The proposed technology incorporated a human-robot interface that can assist personnel on the processes of Deactivation and Decommissioning in sites of high radiation. It has been implemented on a dual-arm robot system, known as Baxter, by integrating the Robotic Operating System (ROS) with 3D sensors and visual-haptic operator interface. However, what remained before its practical utilization is the capability for precisely placing the virtual fixtures. To this end, the objectives involved camera calibration, which required hardware fabrication and setup, as well as modification and implementation of ROS. The goal of this Research and Development is to develop an augmented-reality- based operator interface for human-inclusive, intelligent, and autonomous robotic system for the Deactivation and Decommissioning (D and D) of radioactive sites. The objectives are to develop: Collaborative Robot; Multi-modal Mixed-Reality Human-Robot Interface; Intelligent and Autonomous Behaviors. In order to achieve this, Baxter's Head-Kinect camera and Left-Hand camera need to be calibrated to overlap the real environment with the simulated environment. Camera calibration, which is crucial for precisely placing the virtual fixtures, was successful after running the simulations. The real and simulated environments overlapped, permitting the utilization of augmented teleoperation and the dexterous manipulation of Baxter for D and D applications in nuclear sites. Future steps: Performance evaluation of augmented teleoperation of contact manipulation tasks: Multiple-Camera 3D Reconstruction and Automation. Oculus Interface: Augmented reality and machine learning for enhanced telerobotic operation (Augmented Tele-autonomy): Machine-learning techniques for complex and flexible autonomous robotic behaviors. Interactive remote operation of robotic systems. Mesh cutting with simulation and real robot.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2008

Mission Activity Planning for Humans and Robots on the Moon

A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

task allocation↗

NASA NTRS1989

Onorbit electron beam welding experiment definition

The proposed experiment design calls for six panels to be welded, each having unique characteristics selected to yield specific results and information. The experiment is completely automated and the concept necessitated the design of a new, miniaturized, self-contained electron beam (EB) welding system, for which purpose a separate IR and D was funded by the contractor, Martin Marietta Corporation. Since future tasks beyond the proposed experiment might call for astronauts to perform hand-held EB gun repairs or for the gun to be interfaced with a dexterous robot such as the planned flight telerobotic servicer (FTS), the EB gun is designed to be dismountable from the automated system. In the experiment design, two separate, identical sets of weld panels will be welded, one on earth in a vacuum chamber and the other onorbit in the aft cargo bay of an orbiter. Since the main objective of the experiment is to demonstrate that high quality welds can be achieved under onorbit conditions, the welds produced will be subjected to a wide range of discriminating non-destructive Q.C. procedures and destructive physical tests. However, advantage will be taken of the availability of a fairly large quantity of welded material in the two series of welded specimens to widen the circle of investigative talent by providing material to academic and scientific institutions for examination.

William H. Hooper↗

DOE OSTI2016

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

43 PARTICLE ACCELERATORS↗

DOE OSTI2018

Improvements in Turbine-Blade Manufacture

A completely automated manufacturing technology for turbine blades is proposed. The system includes automatic loading and unloading of the workpiece; its automated orientation in the coordinate system of a multifunctional grinding center; and automated geometric monitoring of the components by means of a coordinate-measurement center. A robot system implementing this technology is described.

42 ENGINEERING↗

NASA NTRS1987

Technology requirements for telerobotic satellite servicing in space

Telerobotic servicer technology requirements were identified for typical on-orbit servicing operations, including: automation requirements and automated system utilization in typical servicing missions; key automation technologies used for servicing; evolution concepts; technology development timetable; and servicing technology drivers. Teleoperation, robotics, and artificial intelligence are needed in the servicing missions investigated. Analysis shows that teleoperation will be used more widely than fully robotic systems, at least during the early space station years because of the diversity and unpredictability of many servicing tasks which call for the human operator's skills, resourcefulness, and decision-making ability. There will be heavy dependence on a sophisticated, flexible, readily accessible, high-speed and high-capacity data management system which can provide the expert system support required in diagnosing, troubleshooting, decision making, task scheduling, and mission planning.

Meissinger, Hans F.↗

NASA NTRS1991

A space servicing telerobotics technology demonstration

Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.

Kan, Edwin P.↗

NASA NTRS1997

Real-Time 3D Visualization

Butler Hine, former director of the Intelligent Mechanism Group (IMG) at Ames Research Center, and five others partnered to start Fourth Planet, Inc., a visualization company that specializes in the intuitive visual representation of dynamic, real-time data over the Internet and Intranet. Over a five-year period, the then NASA researchers performed ten robotic field missions in harsh climes to mimic the end- to-end operations of automated vehicles trekking across another world under control from Earth. The core software technology for these missions was the Virtual Environment Vehicle Interface (VEVI). Fourth Planet has released VEVI4, the fourth generation of the VEVI software, and NetVision. VEVI4 is a cutting-edge computer graphics simulation and remote control applications tool. The NetVision package allows large companies to view and analyze in virtual 3D space such things as the health or performance of their computer network or locate a trouble spot on an electric power grid. Other products are forthcoming. Fourth Planet is currently part of the NASA/Ames Technology Commercialization Center, a business incubator for start-up companies.

Source record↗

NASA NTRS2008

Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons

Orbital Express (OE) was a successful mission demonstrating automated rendezvous and docking. The 2007 mission consisted of two spacecraft, the Autonomous Space Transport Robotic Operations (ASTRO) and the Next Generation Serviceable Satellite (NEXTSat) that were designed to work together and test a variety of service operations in orbit. The Advanced Video Guidance Sensor, AVGS, was included as one of the primary proximity navigation sensors on board the ASTRO. The AVGS was one of four sensors that provided relative position and attitude between the two vehicles. Marshall Space Flight Center was responsible for the AVGS software and testing (especially the extensive ground testing), flight operations support, and analyzing the flight data. This paper briefly describes the historical mission, the data taken on-orbit, the ground testing that occurred, and finally comparisons between flight data and ground test data for two different flight regimes.

Pinson, Robin M.↗

NASA NTRS2017

One-Dimensional Model for the Ultrasonic Response of Resin-Filled Gaps in Automated Tape Layup Composites

Automated tow placement has become a widely used fabrication technique, especially for large aerospace structures. Robotic heads lay down strips (tows) of preimpregnated fiber along programmed paths. The intention is to lay adjacent tows abutted to one another, but sometimes a gap is left between a tow and the previously-placed tow. If a tow gap exists, it fills with resin during cure, forming a fiber-free volume. In immersion ultrasonic pulse-echo measurements of a cured laminate, the gap can be observed to produce a noticeable echo, without significantly attenuating the back-wall reflection of the laminate. To understand this behavior, we considered a one dimensional model of the composite laminate, with a thin layer having the ultrasonic sound speed and density of neat resin, sandwiched between two layers of material having the sound speed and density of fiber-reinforced composite and surrounded on both sides by water. Neglecting attenuation, we considered the transmission and reflection coefficients of each interface, as well as that of the thin resin layer. Using the initial water/composite reflection as a reference, we computed the relative magnitude of the back surface/water reflection in the presence and in the absence of a resin-only layer, as well as the relative magnitude of the reflection arising from a thin resin layer in composite. While the one-dimensional model did not fully match the measurements, it did qualitatively explain the observed behavior.

Johnston, Patrick H.↗

NASA NTRS2018

Playbook for UAS: UX of Goal-Oriented Planning & Execution

We are evaluating Playbook for CASAS (Connected Autonomous Smart Aerospace Systems), a tool designed to aid first responders in disaster relief efforts. We are adapting an existing tool, Playbook, to support a future unmanned aircraft system (UAS) swarm demonstration. Playbook for CASAS will be used to plan, edit, and monitor simulated UAS swarms, and we are interested in evaluating the user experience of this prototype as well as developing recommendations for future UAS interfaces. Allocation of roles and responsibilities between human-automation systems is key to promoting productive cooperation between users and automation. Future interfaces, however, must allow for adaptive management of the swarm not a constant split in human-automation control. Our early research indicates that when a single pilot is controlling swarms of robotic agents, such as UAS or ground rovers, operators require a higher level, goal-based interface with usability at its core. Along with that high-level control, users can leverage sensors within the swarm to be notified when lower level actions must be taken by the pilot. First responders working in disaster relief efforts require a high level of situational awareness (SA) and precise control at key moments within a mission. This balance in operator workload paired with SA can lead to improved safety and mission outcomes. Our research below outlines leverage points as well as the balance between human involvement and autonomy in UAS interfaces.

UAS↗