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At least 865 records · Page 48
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

The International Lunar Network

A new lunar science flight projects line has been introduced within NASA s Science Mission Directorate's (SMDs) proposed 2009 budget, including two new robotic missions designed to accomplish key scientific objectives and, when possible, provide results useful to the Exploration Systems Mission Directorate (ESMD) and the Space Operations Mission Directorate (SOMD) as those organizations grapple with the challenges of returning humans to the Moon. The first mission in this line will be the Lunar Reconnaissance Orbiter, an ESMD mission that will acquire key information for human return to the moon activities, which will transition after one year of operations to the SMD Lunar Science Program for a 2-year nominal science mission. The second mission, the Lunar Atmosphere and Dust Environment Explorer (LADEE) will be launch in 2011 along with the GRAIL Discovery mission to the moon. The third is delivery of two landed payloads as part of the International Lunar Network (ILN). This flight projects line provides a robust robotic lunar science program for the next 8 years and beyond, complements SMD s initiatives to build a robust lunar science community through R&A lines, and increases international participation in NASA s robotic exploration plans. The International Lunar Network is envisioned as a global lunar geophysical network, which fulfills many of the stated recommendations of the recent National Research Council report on The Scientific Context for Exploration of the Moon [2], but is difficult for any single space agency to accomplish on its own. The ILN would provide the necessary global coverage by involving US and international landed missions as individual nodes working together. Ultimately, this network could comprise 8-10 or more nodes operating simultaneously, while minimizing the required contribution from each space agency. Indian, Russian, Japanese, and British landed missions are currently being formulated and SMD is actively seeking partnership with these and other space agencies to establish the ILN.

Cohen, Barbara A.↗
NASA NTRS2006

Integrated Planning for Telepresence with Time Delays

Teleoperation of remote robotic systems over time delays in the range of 2-10 seconds poses a unique set of challenges. In the context of a supervisory control system for the JSC Robonaut humanoid robot, we have developed an 'intelligent assistant' that integrates an Artificial Intelligence planner (JSHOP2) with execution monitoring of the state of both the human supervisor and the remote robot. The assistant reasons simultaneously about the world state on both sides of the time delay, which represents a novel application of this technology. The purpose of the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved. To do this, the assistant must simultaneously monitor and react to various data sources, including actions taken by the supervisor who is issuing commands to the robot (e.g. with a data glove), actions taken by the robot, and the environment of the robot, both as currently perceived over the time delay, along with the current sequence of goals. We have developed a 'leader/follower' software architecture to handle the dual time-shifted streams of execution feedback. In this paper we describe the integrated planner and its executive, and how it operates in normal and anomaly situations.

remote robotic systems↗
NASA NTRSDate not supplied

Remote Science Work Support, Context, and Approach on NASA's VIPER Mission

Returning humans to the Moon, sending humans for the first time to Mars will necessarily include an accompaniment of robotic vehicles. A mission work system will be needed that supports remote teams of humans and robots in cooperation (synchronous and asynchronous) with earthbound systems, engineering and science teams. All of these elements have individual development contexts and manners of operation; at the same time, all are in varying degrees conjoined during mission development stages and operations. As such, the assembly of elements (people, activities, disciplinary knowledge, and machines) that constitute a mission work system can be developed independently and cooperatively. Current missions and those in development, in keeping with NASA’s history of employing prior mission knowledge, will shape how and by which organizational schemas, or elements of, future missions will draw from, or wholly rely. NASA’s Volatiles Investigating Polar Exploration Rover mission, VIPER, presents an opportunity for a unique operational schema within the history of space exploration and remotely conducted science research.

science operations↗
NASA NTRS1992

Characteristics and requirements of robotic manipulators for space operations

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

Andary, James F.↗
NASA NTRS2021

Role of Cyber-Physical Testing in Developing Resilient Extraterrestrial Habitats

Extraterrestrial long-term habitat systems (henceforth referred to as habitat systems) require groundbreaking technological advances to overcome the extreme demands introduced by isolation and challenging environments. A habitat system must operate as intended under continuous disruptive conditions. Designing for the demands that challenging environments will place on habitat systems (e.g., wild temperature fluctuations, galactic cosmic rays, destructive dust, meteoroid impacts, vibrations, and solar particle events) represents one of the greatest challenges in this endeavor. This engineering problem necessitates that we design and manage habitat systems to be resilient. System resilience requires a comprehensive approach that accounts for disruptions through the design process and adapts to them in operation. As the habitat system evolves—growing in physical size, complexity, population, and connectivity—and diversifies in operations, it must continue to be safe and resilient. In this endeavor, we should take advantage of lessons learned in developing civil infrastructure responsive to catastrophic natural hazards, autonomous robotics platforms, smart buildings, cyber-physical testing, complex systems, and diagnostics and prognostics for intelligent health management. This study highlights the importance of system resilience and cyber-physical testing to address the grand challenge of developing habitat systems.

Public health and safety↗
NASA NTRS1990

In-space construction and dynamics of large space structures

The types of equipment and structures that will be required to construct very large spacecraft in space are discussed. One of the basic issues that must be resolved is the appropriate mix of humans and machines in the construction process. While the use of robots offers the potential for reducing the number of extra-vehicular activity (EVA) hours required for particular construction operations, the availability of humans greatly increases the reliability of complex construction tasks. A hybrid system is described which makes the best use of man and machine to provide a highly reliable and versatile construction approach. Such a system will provide an efficient method for constructing large spacecraft until fully automated, robotic devices can be perfected. Details are given on an extensive ground test program which was designed to evaluate and demonstrate large spacecraft construction. A discussion is presented on the use of the Space Station Freedom, or an appropriate derivative, as a construction facility. Finally, a construction scenario and assembly timelines are presented for constructing a 20-meter-diameter high precision reflector.

Mikulas, Martin M., Jr.↗
NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

lunar surface↗
NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS2013

Helicopter Flight Test of 3-D Imaging Flash LIDAR Technology for Safe, Autonomous, and Precise Planetary Landing

Two flash lidars, integrated from a number of cutting-edge components from industry and NASA, are lab characterized and flight tested for determination of maximum operational range under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project (in its fourth development and field test cycle) which is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The flash lidars incorporate pioneering 3-D imaging cameras based on Indium-Gallium-Arsenide Avalanche Photo Diode (InGaAs APD) and novel micro-electronic technology for a 128 x 128 pixel array operating at 30 Hz, high pulse-energy 1.06 micrometer Nd:YAG lasers, and high performance transmitter and receiver fixed and zoom optics. The two flash lidars are characterized on the NASA-Langley Research Center (LaRC) Sensor Test Range, integrated with other portions of the ALHAT GN&C system from partner organizations into an instrument pod at NASA-JPL, integrated onto an Erickson Aircrane Helicopter at NASA-Dryden, and flight tested at the Edwards AFB Rogers dry lakebed over a field of human-made geometric hazards during the summer of 2010. Results show that the maximum operational range goal of 1 km is met and exceeded up to a value of 1.2 km. In addition, calibrated 3-D images of several hazards are acquired in real-time for later reconstruction into Digital Elevation Maps (DEM's).

Roback, Vincent↗
NASA NTRS1989

Automation and robotics technology for intelligent mining systems

The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

Welsh, Jeffrey H.↗
NASA NTRS1983

Autonomy and the human element in space

NASA is contemplating the next logical step in the U.S. space program - the permanent presence of humans in space. As currently envisioned, the initial system, planned for the early 1990's, will consist of manned and unmanned platforms situated primarily in low Earth orbit. The manned component will most likely be inhabited by 6-8 crew members performing a variety of tasks such as materials processing, satellite servicing, and life science experiments. The station thus has utility in scientific and commercial enterprises, in national security, and in the development of advanced space technology. The technical foundations for this next step have been firmly established as a result of unmanned spacecraft missions to other planets, the Apollo program, and Skylab. With the shuttle, NASA inaugurates a new era of frequent flights and more routine space operations supporting a larger variety of missions. A permanently manned space system will enable NASA to expand the scope of its activities still further. Since NASA' s inception there has been an intense debate over the relative merits of manned and unmanned space systems. Despite the generally higher costs associated with manned components, astronauts have accomplished numerous essential, complex tasks in space. The unique human talent to evaluate and respond inventively to unanticipated events has been crucial in many missions, and the presence of crews has helped arouse and sustain public interest in the space program. On the other hand, the hostile orbital environment affects astronaut physiology and productivity, is dangerous, and mandates extensive support systems. Safety and cost factors require the entire station complex, both space and ground components, to be highly automated to free people from mundane operational chores. Recent advances in computer technology, artificial intelligence (AI), and robotics have the potential to greatly extend space station operations, offering lower costs and superior productivity. Extended operations can in turn enhance critical technologies and contribute to the competitive economic abilities of the United States. A high degree of automation and autonomy may be required to reduce dependence on ground systems, reduce mission costs, diminish complexity as perceived by the crew, increase mission lifetime and expand mission versatility. However, technologies dealing with heavily automated, long duration habitable spacecraft have not yet been thoroughly investigated by NASA. A highly automated station must amalgamate the diverse capabilities of people, machines, and computers to yield an efficient system which capitalizes on unique human characteristics. The station also must have an initial design which allows evolution to a larger and more sophisticated space presence. In the early years it is likely that AI-based subsystems will be used primarily in an advisory or planning capacity. As human confidence in automated systems grows and as technology advances, machines will take on more critical and interdependent roles. The question is whether, and how much, system autonomy will lead to improved station effectiveness.

Source record↗
DOE OSTI2019

Three-dimensional piezoelectric polymer microsystems for vibrational energy harvesting, robotic interfaces and biomedical implants

Piezoelectric microsystems are of use in areas such as mechanical sensing, energy conversion and robotics. The systems typically have a planar structure, but transforming them into complex three-dimensional (3D) frameworks could enhance and extend their various modes of operation. Here, we report a controlled, nonlinear buckling process to convert lithographically defined two-dimensional patterns of electrodes and thin films of piezoelectric polymers into sophisticated 3D piezoelectric microsystems. To illustrate the engineering versatility of the approach, we create more than twenty different 3D geometries. With these structures, we then demonstrate applications in energy harvesting with tailored mechanical properties and root-mean-square voltages ranging from 2 mV to 790 mV, in multifunctional sensors for robotic prosthetic interfaces with improved responsivity (for example, anisotropic responses and sensitivity of 60 mV N -1 for normal force), and in bio-integrated devices with in vivo operational capabilities. We note the 3D geometries, especially those with ultralow stiffnesses or asymmetric layouts, yield unique mechanical attributes and levels of functionality that would be difficult or impossible to achieve with conventional two-dimensional designs.

42 ENGINEERING↗
NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗
NASA NTRS1988

A Generalized Method for Automatic Downhand and Wirefeed Control of a Welding Robot and Positioner

A generalized method for controlling a six degree-of-freedom (DOF) robot and a two DOF positioner used for arc welding operations is described. The welding path is defined in the part reference frame, and robot/positioner joint angles of the equivalent eight DOF serial linkage are determined via an iterative solution. Three algorithms are presented: the first solution controls motion of the eight DOF mechanism such that proper torch motion is achieved while minimizing the sum-of-squares of joint displacements; the second algorithm adds two constraint equations to achieve torch control while maintaining part orientation so that welding occurs in the downhand position; and the third algorithm adds the ability to control the proper orientation of a wire feed mechanism used in gas tungsten arc (GTA) welding operations. A verification of these algorithms is given using ROBOSIM, a NASA developed computer graphic simulation software package design for robot systems development.

Fernandez, Ken↗
NASA NTRS1988

Adaptive parallel logic networks

Adaptive, self-organizing concurrent systems (ASOCS) that combine self-organization with massive parallelism for such applications as adaptive logic devices, robotics, process control, and system malfunction management, are presently discussed. In ASOCS, an adaptive network composed of many simple computing elements operating in combinational and asynchronous fashion is used and problems are specified by presenting if-then rules to the system in the form of Boolean conjunctions. During data processing, which is a different operational phase from adaptation, the network acts as a parallel hardware circuit.

Martinez, Tony R.↗
NASA NTRS1989

An Earth Orbiting Satellite Service and Repair Facility

A conceptual design was produced for the Geosynchronous Satellite Servicing Platform (GSSP), an orbital facility capable of repairing and servicing satellites in geosynchronous orbit. The GSSP is a man-tended platform, which consists of a habitation module, operations module, service bay and truss assembly. This design review includes an analysis of life support systems, thermal and power requirements, robotic and automated systems, control methods and navigation, and communications systems. The GSSP will utilize existing technology available at the time of construction, focusing mainly on modifying and integrating existing systems. The entire facility, along with two satellite retrieval vehicles (SRV), will be placed in geosynchronous orbit by the Advanced Launch System. The SRV will be used to ferry satellites to and from the GSSP. Technicians will be transferred from Earth to the GSSP and back in an Apollo-derived Crew Transfer Capsule (CTC). These missions will use advanced telerobotic equipment to inspect and service satellites. Four of these missions are tentatively scheduled per year. At this rate, the GSSP will service over 650 satelites during the projected 25 year lifespan.

Berndt, Andrew↗
NASA NTRS1991

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

Prinz, F. B.↗