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At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Machine intelligence and autonomy for aerospace systems

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

Heer, Ewald↗
NASA NTRS2005

NASA's In-Space Propulsion Technology Program: A Step Toward Interstellar Exploration

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space. The maximum theoretical efficiencies have almost been reached and are insufficient to meet needs for many ambitious science missions currently being considered. By developing the capability to support mid-term robotic mission needs, the program is laying the technological foundation for travel to nearby interstellar space. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion systems operating in the 5-10 kW range, to solar sail propulsion, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called "propellantless" because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations, such as solar sails, electrodynamic and momentum transfer tethers, and aerocapture. This paper will provide an overview of those propellantless and propellant-based advanced propulsion technologies that will most significantly advance our exploration of deep space.

Johnson, Les↗
NASA NTRS1987

Automation and robotics and related technology issues for Space Station customer servicing

Several flight servicing support elements are discussed within the context of the Space Station. Particular attention is given to the servicing facility, the mobile servicing center, and the flight telerobotic servicer (FTS). The role that automation and robotics can play in the design and operation of each of these elements is discussed. It is noted that the FTS, which is currently being developed by NASA, will evolve to increasing levels of autonomy to allow for the virtual elimination of routine EVA. Some of the features of the FTS will probably be: dual manipulator arms having reach and dexterity roughly equivalent to that of an EVA-suited astronaut, force reflection capability allowing efficient teleoperation, and capability of operating from a variety of support systems.

Cline, Helmut P.↗
NASA NTRS2002

Space Rose Pleases the Senses

International Flavors and Fragrances (IFF), Inc., discovered a new scent by flying a miniature rose plant aboard NASA's Space Shuttle Discovery Flight STS-95. IFF and the Wisconsin Center for Space Automation and Robotics (WCSAR) partnered to fly the rose plant in the commercial plant research facility, ASTROCULTURE(TM), for reduced-gravity environment research. IFF commercialized the space rose note, which is now a fragrance ingredient in a perfume developed by Shiseido Cosmetics (America), Ltd. In addition to providing a light crisp scent, the oil from the space rose can also serve as a flavor enhancer. ASTROCULTURE(TM) is a trademark of the Wisconsin Center for Space Automation and Robotics.

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NASA NTRS1992

Adaptive multisensor fusion for planetary exploration rovers

The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

Collin, Marie-France↗
NASA NTRS1982

Knowledge based systems for intelligent robotics

It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

Rajaram, N. S.↗
NASA NTRS1988

Space station as a vital focus for advancing the technologies of automation and robotics

A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

Varsi, Giulio↗
NASA NTRS1993

Robots for Aircraft Maintenance

Marshall Space Flight Center charged USBI (now Pratt & Whitney) with the task of developing an advanced stripping system based on hydroblasting to strip paint and thermal protection material from Space Shuttle solid rocket boosters. A robot, mounted on a transportable platform, controls the waterjet angle, water pressure and flow rate. This technology, now known as ARMS, has found commercial applications in the removal of coatings from jet engine components. The system is significantly faster than manual procedures and uses only minimal labor. Because the amount of "substrate" lost is minimal, the life of the component is extended. The need for toxic chemicals is reduced, as is waste disposal and human protection equipment. Users of the ARMS work cell include Delta Air Lines and the Air Force, which later contracted with USBI for development of a Large Aircraft Paint Stripping system (LARPS). LARPS' advantages are similar to ARMS, and it has enormous potential in military and civil aircraft maintenance. The technology may also be adapted to aircraft painting, aircraft inspection techniques and paint stripping of large objects like ships and railcars.

Source record↗
NASA NTRS1992

Design of a welded joint for robotic, on-orbit assembly of space trusses

In the future, some spacecraft will be so large that they must be assembled on-orbit. These spacecraft will be used for such tasks as manned missions to Mars or used as orbiting platforms for monitoring the Earth or observing the universe. Some large spacecraft will probably consist of planar truss structures to which will be attached special purpose, self-contained modules. The modules will most likely be taken to orbit fully outfitted and ready for use in heavy-lift launch vehicles. The truss members will also similarly be taken to orbit, but most unassembled. The truss structures will need to be assembled robotically because of the high costs and risks of extra-vehicular activities. Some missions will involve very large loads. To date, very few structures of any kind have been constructed in space. Two relatively simple trusses were assembled in the Space Shuttle bay in late 1985. Here the development of a design of a welded joint for on-orbit, robotic truss assembly is described. Mechanical joints for this application have been considered previously. Welded joints have the advantage of allowing the truss members to carry fluids for active cooling or other purposes. In addition, welded joints can be made more efficient structurally than mechanical joints. Also, welded joints require little maintenance (will not shake loose), and have no slop which would cause the structure to shudder under load reversal. The disadvantages of welded joints are that a more sophisticated assembly robot is required, weld flaws may be difficult to detect on-orbit, the welding process is hazardous, and welding introduces contamination to the environment. In addition, welded joints provide less structural damping than do mechanical joints. Welding on-orbit was first investigated aboard a Soyuz-6 mission in 1969 and then during a Skylab electron beam welding experiment in 1973. A hand held electron beam welding apparatus is currently being prepared for use on the MIR space station. Presently, Marshall Space Flight Center is evaluating processes appropriate for on-orbit welding. A low gravity environment has been found to have very minor effects on the welding processes appropriate for this application. This is based on tests run on-orbit as well as low gravity environments achieved by flying aircraft in parabolic trajectories. It appears that a modified form of gas tungsten arc welding (GTAW) will be most appropriate for welding together structures on-oribt. The process has been modified to work in a vacuum by providing gas to the arc zone by means of a hollow tungsten electrode with special shielding. A commercial tube welding head has been successfully modified for use on-orbit with a gas leakage rate of approximately 2.5 liters/min. To develop as realistic a joint as possible, a specific truss structure was selected on which to base the design. The structure considered was based on the 120 foot diameter aerobrake tetrahedral truss structure. The truss members were assumed to consist of graphite/epoxy tubes. Also, it was assumed that the nodes were constructed of 2219-T87 aluminum alloy. The magnitude of the member load assumed for design purposes was 100 kips.

Rule, William K.↗
NASA NTRS2002

STS-111 Mission Highlights Resource Tape: Flight Days 8 - 10 - Part 3 of 4

An overview of the STS-111 Endeavour mission is given through footage of each flight day. Scenes from flight days 8 through 10 show activities such as extravehicular activity (EVA) preparation, EVA activity to replace the wrist roll joint on the International Space Station's (ISS) robotic arm, logistics transfer operation, space suit check-out and loading of the Leonardo Multi-Purpose Logistics Module onto the Endeavour's cargo bay. Individual shots of Africa, Italy, Hispaniola, Mexico and the Strait of Gilbraltar are shown. For mission footage from flight days 1 to 7 and 11-14, see also, 'STS-111 Mission Highlights Resource Tape, Part 1', 'STS-111 Mission Highlights Resource Tape, Part 2' and 'STS-111 Mission Highlights Resource Tape, Part 4'.

Source record↗
NASA NTRS2004

NASA's In-Space Propulsion Technology Program: Overview and Status

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next generation ion propulsion system operating in the 5 - 10 kW range, to advanced cryogenic propulsion, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called, 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer tethers, aeroassist, and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, and NASA s plans for advancing them as part of the $60M per year In-Space Propulsion Technology Program.

Johnson, Les↗
NASA NTRS2004

NASA's In-Space Propulsion Technology Program: Overview and Update

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion system operating in the 5- to 10-kW range to aerocapture and solar sails, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals ase the environment of space itself for energy and propulsion and are generically called 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer tethers, aeroassist, and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, as well as NASA s plans for advancing them as part of the In-Space Propulsion Technology Program.

Johnson, Les↗
NASA NTRS2004

NASA In-Space Propulsion Technology Program: Overview and Update

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program's technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion system operating in the 5- to 10-kW range to aerocapture and solar sails, substantial advances in - spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer.tethers, aeroassist and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, as well as NASA's plans for advancing them as part of the In-Space Propulsion Technology Program.

Johnson, Les↗
NASA NTRS1985

Testimony of Robert A. Frosch before the Subcommittee on HUD and Independent Agencies of the Senate Committee on Appropriations

An agreement between NASA and the Congress was arranged as part of the activities supporting the establishment of NASA Policy on Automation and Robotics for the space station. This agreement is dicussed. A panel brought together experts from industry, universities, national laboratories, other government agencies, and NASA to perform an independent study of how NASA could use automation and robotics in the space station in ways that would be most useful to carrying out the mission of the station, and that would lead to useful benefits to the U.S. economy and industry on the ground.

Frosch, R. A.↗
NASA NTRS2002

Robotic Assembly of Truss Structures for Space Systems and Future Research Plans

Many initiatives under study by both the space science and earth science communities require large space systems, i.e. with apertures greater than 15 m or dimensions greater than 20 m. This paper reviews the effort in NASA Langley Research Center's Automated Structural Assembly Laboratory which laid the foundations for robotic construction of these systems. In the Automated Structural Assembly Laboratory reliable autonomous assembly and disassembly of an 8 meter planar structure composed of 102 truss elements covered by 12 panels was demonstrated. The paper reviews the hardware and software design philosophy which led to reliable operation during weeks of near continuous testing. Special attention is given to highlight the features enhancing assembly reliability.

Doggett, William↗
NASA NTRS1988

Robots for manipulation in a micro-gravity environment

This paper is concerned with the development of control strategies and mechanisms for robots operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. Approaches discussed for controlling the robot base reactions/motions include strategies making use of manipulators with redundant degrees of freedon, actuators at the robot base, and a redundant (balancing) arm. Two degree-of-freedom, traction-drive joints are discussed as well as the conceptual design for a traction-driven manipulator.

Quinn, R. D.↗
NASA NTRS1990

Technology for subsystems of space-based plant growth facilities

Technologies for different subsystems of space-based plant growth facilities are being developed at the Wisconsin Center for Space Automation and Robotics, a NASA Center for the Commercial Development of Space. The technologies include concepts for water and nutrient delivery, for nutrient composition control, and for irradiation. Effort is being concentrated on these subsystems because available technologies cannot be effectively utilized for space applications.

Bula, R. J.↗
NASA NTRS1991

NASA Laboratory telerobotic manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software.

Rowe, J. C.↗