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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 919 records · Page 51
All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

In Situ Thermal Inspection of Automated Fiber Placement Operations for Tow and Ply Defect Detection

The advent of Automated Fiber Placement (AFP) systems have aided the rapid manufacturing of composite aerospace structures. One of the challenges that AFP systems pose is the uniformity of the deposited prepreg tape layers, which complicates detection of laps, gaps, overlaps and twists. The current detection method used in industry involves halting fabrication and performing a time consuming, visual inspection of each tape layer. Typical AFP systems use a quartz lamp to heat the base layer to make the surface tacky as it deposits another tape layer. The innovation proposed in this paper is to use the preheated base layer as a through-transmission heat source for inspecting the newly added tape layer in situ using a thermographic camera mounted on to the AFP hardware. Such a system would not only increase manufacturing throughput by reducing inspection times, but it would also aid in process development for new structural designs or material systems by providing data on as-built parts. To this end, a small thermal camera was mounted onto an AFP robotic research platform at NASA, and thermal data was collected during typical and experimental layup operations. The data was post processed to reveal defects such as tow overlap/gap, wrinkling, and peel-up. Defects that would have been impossible to detect visually were also discovered in the data, such as poor/loss of adhesion between plies and the effects of vacuum debulking. This paper will cover the results of our experiments, and the plans for future versions of this inspection system.

Juarez, Peter D.↗
NASA NTRS1995

Sample acquisition and instrument deployment

Progress is reported in developing the Sample Acquisition and Instrument Deployment (SAID) system, a robotic system for deploying science instruments and acquiring samples for analysis. The system is a conventional four degree of freedom manipulator 2 meters in length. A baseline design has been achieved through analysis and trade studies. The design considers environmental operating conditions on the surface of Mars, as well as volume constraints on proposed Mars landers. Control issues have also been studied, and simulations of joint and tip movements have been performed. The systems have been fabricated and tested in environmental chambers, as well as soil testing and robotic control testing.

Boyd, Robert C.↗
NASA NTRS2016

A Mission Concept to Study Multigenerational Mammalian Reproduction in Partial Gravity

A team at NASA Langley Research Center conducted a study during which a conceptual space mission was designed. In this study, rodents are used as human analogs to gather biological and systems data in a relevant environment applicable to future settlements on Mars. The mission concept uniquely addresses the combined effects of long-durations (one-year or greater), autonomous and robotic operations, and biological responses to partial gravity with an emphasis on reproduction. The objectives of this study were to 1) understand challenges associated with designing an artificial gravity habitat that supports the reproduction and maturation of a large animal colony, 2) identify mission architectures and operational concepts to transport and maintain such a facility, and 3) identify fundamental science considerations for mammalian reproduction studies to inform vehicle design. A model demonstration unit was developed to visualize and test certain design concepts that resulted from these considerations. Three versions of this demonstration unit were built over the course of the study, each taking into account lessons learned from the previous version. This paper presents the updated baseline mission and spacecraft design concepts to achieve these objectives, with a specific emphasis on updates since publication in previous works. Analyses of the integrated system trades among the elements which make up the conceptual vehicle are described to address overall feasibility and identify potential integrated design opportunities. The latest iteration of the habitat robotics design and a conceptual design example for autonomous care of crew and systems are also presented. Finally, the conclusion of this conceptual design study, necessary future analyses to enable such a facility, and comments upon other applications of a similar exploration-focused research facilities are addressed.

Rodgers, Erica M.↗
NASA NTRS2014

Advanced Space Surface Systems Operations

The importance of advanced surface systems is becoming increasingly relevant in the modern age of space technology. Specifically, projects pursued by the Granular Mechanics and Regolith Operations (GMRO) Lab are unparalleled in the field of planetary resourcefulness. This internship opportunity involved projects that support properly utilizing natural resources from other celestial bodies. Beginning with the tele-robotic workstation, mechanical upgrades were necessary to consider for specific portions of the workstation consoles and successfully designed in concept. This would provide more means for innovation and creativity concerning advanced robotic operations. Project RASSOR is a regolith excavator robot whose primary objective is to mine, store, and dump regolith efficiently on other planetary surfaces. Mechanical adjustments were made to improve this robot's functionality, although there were some minor system changes left to perform before the opportunity ended. On the topic of excavator robots, the notes taken by the GMRO staff during the 2013 and 2014 Robotic Mining Competitions were effectively organized and analyzed for logistical purposes. Lessons learned from these annual competitions at Kennedy Space Center are greatly influential to the GMRO engineers and roboticists. Another project that GMRO staff support is Project Morpheus. Support for this project included successfully producing mathematical models of the eroded landing pad surface for the vertical testbed vehicle to predict a timeline for pad reparation. And finally, the last project this opportunity made contribution to was Project Neo, a project exterior to GMRO Lab projects, which focuses on rocket propulsion systems. Additions were successfully installed to the support structure of an original vertical testbed rocket engine, thus making progress towards futuristic test firings in which data will be analyzed by students affiliated with Rocket University. Each project will be explained in further detail, as well as the full scope of the contributions made during this opportunity.

Robotics↗
NASA NTRSDate not supplied

Astrobee Operations on the Iss: Gui’S Impact on the Operators’ Cognitive Load

The Astrobee free-flying robots have completed their fifth successful year of operations housed in the Japanese Experimental Module (JEM) on the International Space Station (ISS). In this paper, we introduce two Graphical User Interfaces (GUI) used to operate and monitor in real-time the Astrobee free-flying robots onboard the ISS and report on the impact these GUIs have in the operator’s cognitive load. A review of the state-of-the-art GUI design for remotely teleoperated scenarios with minimal time delay is presented and the study’s conclusion used to determine the elements and recommendations to create an interface that minimizes its impact on the overall performance of an operator during an activity at the ISS. The Ground Data System (GDS) is one of the two GUIs in the study: it contains several tabs, each of which displays a different set of controls for specific tasks e.g. Overview, Run Plan, Teleoperate, Guest Science; some also display video and a three-dimensional (3D) representation of the ISS and robot based on the Astrobee’s telemetry. Most tabs enable a single operator-robot connection, however some of its tabs are capable to monitor and control up to three Astrobees simultaneously. The GDS Helper is a text-based user interface created to facilitate commanding and monitoring of an Astrobee robot directly from an SSH session. In full interactive mode it displays a maximum of 5 sections: general commanding, feedback/ack, telemetry, guest science commanding, and data, all in one view. In batch mode, it enables complex command scripting while retaining some interactive capabilities. A comparative analysis between these GUIs is carried out at an analogous ISS environment at the NASA Ames Research Center’s Granite Lab and its results presented. While GDS is able to provide an operator with control and situational awareness via its video and 3D displays, its several tabs may introduce an overwhelming amount of information confusing and delaying the operator especially during time-sensitive maneuvers where the operator may need to switch back and forth between them. GDS helper in the other hand does not provide video or 3D displays thus not allowing an operator to attain situational awareness, however it provides the operator with a design displaying commonly used data in a single window, enabling the operator to understand the state of the robot at a glance and control it through a commands entered via keyboard instead of a combination of mouse clicks and keyboard input. The results of the experiments measure the cognitive load across several operators maneuvering Astrobee to accomplish tasks ranging from fully manual to supervised activities. A GUI combining a single window displaying data along video and a 3D display is expected to reduce the operator’s cognitive load.

Astrobee↗
DOE OSTI2021

IN-SERVICE INSPECTION OF EXTENDED DRY STORAGE OF SPENT NUCLEAR FUEL, PART I: CRAWLER TECHNOLOGY DEVELOPMENT

This paper describes development and demonstration of remote crawling systems to support periodic examinations of interim dry storage system (DSS) canisters for spent nuclear fuel in the USA. Specifically, this work relates to robotic crawler developments for “canister” based DSS systems which form the majority population of DSSs, in the USA, for interim storage of spent nuclear fuel. Consideration of potential degradation of the welded stainless-steel canister in these systems is required for continued usage in the period of extended operation (PEO) beyond their initial licensed or certified terms. Challenges associated with performing the periodic examinations are associated with physical access to the canister surface which is constrained due to narrow annulus spaces between the canister and the overpack, tortuous entry pathways, and high temperatures and radiation doses that can be damaging to materials and electronics. Motivations for performing periodic examinations and developing robotic crawlers for performing those examinations remotely will be presented and several activities to demonstrate robotic crawlers for different DSS systems are summarized.

nondestructive examination (NDE), Dry Cask Storage↗
DOE OSTI2017

Towards a Remote Handling Toolkit for Fusion: Lessons Learnt and Future Challenges - 17360

It is increasingly recognised within the fusion research community that the next generation of remote maintenance solutions will be a 'device defining driver' for a future fusion power plant. The unique Remote Handling Systems that operates at JET, EUROfusion's research reactor that is operated by the UKAEA at Culham, Oxfordshire, remains the archetype for future designs. At ITER, the international fusion research experiment being constructed in the South of France, many $100's millions will be invested in supplying and then operating remote handling solutions. This paper will provide a brief history of the JET Remote Handling System in recent campaigns and will present initial results of the ITER remote operated cutting and welding trials. Finally, the paper will comment on reasons for establishing RACE, the UKAEA's centre for Remote Applications in Challenging Environments and the task of integrating new robotics including autonomous vehicles, snake-like manipulators and autonomous remote maintenance systems into the design of a future fusion reactor. (authors)

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS2018

Software System for the Mars 2020 Mission Sampling and Caching Testbeds

The development of the Sampling and Caching Subsystem (SCS) of the Mars 2020 Rover Mission is highly dependent on testing of prototype hardware and software operating in explicit conditions as part of integrated testbeds. To achieve relevant integration of hardware and software while maintaining rapid algorithm development capabilities and high testing throughput, the Controls and Autonomy for Sample Acquisition and Handling (CASAH) software system was developed. CASAH is an implementation of the Intelligent Robotics System Architecture (IRSA),which mimics JPL Flight Software (FSW) in that it is divided into hierarchical modules that run separate processes that communicate via message passing, each module is assigned an owner that is a single developer, and the operator initiates requests via a text-based interface that interprets sequences of commands.IRSA enables a modular breakdown of CASAH that follows that of 2020 Flight Software,so developers can take an algorithm from a module in CASAH and re-code it into the same module in FSW. As deployment of CASAH has grown to ten testbeds - each with different hardware and objectives - bottom-up design decisions have been intentionally made to keep the system lightweight and maintainable by a very small team. To date, CASAH has been used to run 1393 different tests. This work describes CASAH, the testbeds and functionality it supports, the tools used to manage the development and sharing of code, and the features of the software. Lessons learned over the past three years of development and deployment are provided.

Vieira, Peter↗
DOE OSTI2018

Self-Navigating Robotic Assistant for Long-term Wide Area Floor Contamination Monitoring - 18213

For Routine Contamination Testing (RCT) of an operational nuclear facility or one undergoing Decontamination and Decommissioning (D and D), workers utilize specified travel corridors (enclosed hallways or areas designated with tape or rope in open spaces) to minimize the risk of spreading contamination. Radiation health technicians must continually monitor these areas for contamination to minimize worker dose and prevent its spread to uncontrolled areas. For many sites, it is impractical for the technician to adequately survey such areas. The Nuclear Robotics Group (NRG) at UT Austin has developed a self-navigating robotic platform equipped with radiation detectors to augment the technician to improve both survey coverage and frequency. While maintaining a controlled velocity and floor-to-sensor distance, the system takes radiation measurements to identify and/or localize contamination sources. Readings above background levels are reported to a remote workstation to allow technicians to then respond accordingly. The completion of these mundane tasks by a robot allows the trained technicians to focus instead on operational tasks, D and D, or responding to alarms. The robot generates a map using a Lidar range sensor with established Simultaneous Localization and Mapping (SLAM) techniques. Range data is then compared to previously generated maps for robot localization and autonomous navigation. To maximize coverage, the robot executes a Complete Coverage Path Planning (CCPP) algorithm using a static map that is discretized into cells to assure comprehensive yet efficient coverage. As the system executes the generated plan, it builds a radiation map of the area for the technician to validate and verify the results. If contamination is detected, the robot will minimize the spread of contamination by stopping, sounding an alarm, and alerting the remote technician. The proposed system allows for long-term deployment with minimal human intervention. It is robust to both highly dynamic obstacles (i.e. personnel) and low dynamic changes (i.e. temporally stored cart) in the environment. This is accomplished through continuous spatiotemporal updating of the static map, and the utilization of a supervisory controller that allows the system to reliably respond to unexpected events or states (i.e. low battery, closed door, etc.). While the supervisory controller can respond to temporary complications, the system also recognizes the environment can change slowly over time necessitating that the CCPP automatically be updated to account for observed 'permanent' changes to the environment. To do this, the robot uses intermediate probabilistic data to make intelligent planning decisions offline while still maintaining local reactive obstacle avoidance and safety features. The self-updating of the map allows the robot to run longer without the need to remake the map, leading to more consistent monitoring data and less maintenance from the human technician. This paper will review the current system hardware, the CCPP algorithm, the supervisory controller, the probabilistic algorithm for identifying permanent changes, and recent experiments at UT Austin to experimentally validate the reported sensor coverage. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2022

IROSA 3A EVA Robotics

The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS. This animation was created with configurations provided by the CX Team and showcases the robotics for the IROSA 3A EVA install. The ExtraVehicular Activity (EVA) shown include the extraction of one ISS Roll-Out Solar Array (IROSA) from the ISS Power Augmentation (IPA) carrier by an astronaut on the end of the Space Station Remote Manipulator System (SSRMS) and subsequent install on the ISS starboard side truss. Operations during the EVA not shown will complete the install of the IROSA.

ISS↗
DOE OSTI2019

GROVER: Ground-based Robotic Omnidirectional Vehicle for Electric Research

Oak Ridge National Laboratory has developed a living laboratory to accelerate the development of electric vehicles and connected and automated vehicle (CAV) technologies. GROVER is a small autonomous bus that uses pulsed laser sensors to move in any direction, with four wheels operating independently, rotating a full 360 degrees.

3-D↗
NASA NTRS2022

Simulating Mars: Enabling Testing of the Perseverance Rover Sampling and Caching Subsystem on Earth

The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.

Kim, Junggon↗
NASA NTRS2011

Validation of Space Weather Models at Community Coordinated Modeling Center

The Community Coordinated Modeling Center (CCMC) is a multi-agency partnership to support the research and developmental work necessary to substantially increase space weather modeling capabilities and to facilitate advanced models deployment in forecasting operations. Space weather models and coupled model chains hosted at the CCMC range from the solar corona to the Earth's upper atmosphere. CCMC has developed a number of real-time modeling systems, as well as a large number of modeling and data products tailored to address the space weather needs of NASA's robotic missions. The CCMC conducts unbiased model testing and validation and evaluates model readiness for operational environment. CCMC has been leading recent comprehensive modeling challenges under GEM, CEDAR and SHINE programs. The presentation will focus on experience in carrying out comprehensive and systematic validation of large sets of. space weather models

Kuznetsova, M. M.↗
NASA NTRS2003

Noncoherent Tracking of a Source of a Data-Modulated Signal

A proposed tracking receiver system containing three suitably positioned antenna elements and special signal-processing equipment would determine the direction of incidence of a microwave signal containing spread-spectrum digital data modulation. If the system were to contain two sets of antenna elements separated by a known baseline, it could determine the location of the transmitter as the intersection of the lines of incidence on the two antennas. Such systems could be used for diverse purposes in outer space and on Earth, including tracking astronauts and small robotic spacecraft working outside a spacecraft or space station, and locating cellular telephones from which distress calls have been made. The principle of operation does not require the transmission of a special identifying or distress signal by the cellular telephone or other transmitter to be tracked; instead, the system could utilize the data signal routinely sent by the transmitter, provided that the signal had the characteristics needed for processing.

Arndt, G. Dickey↗
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.

LSMS↗
NASA NTRS1993

Automated assembly of large space structures using an expert system executive

NASA LaRC has developed a unique testbed for investigating the practical problems associated with the assembly of large space structures using robotic manipulators. The testbed is an interdisciplinary effort which considers the full spectrum of assembly problems from the design of mechanisms to the development of software. This paper will describe the automated structures assembly testbed and its operation, detail the expert system executive and its development, and discuss the planned system evolution. Emphasis will be placed on the expert system development of the program executive. The executive program must be capable of directing and reliably performing complex assembly tasks with the flexibility to recover from realistic system errors. By employing an expert system, information pertaining to the operation of the system was encapsulated concisely within a knowledge base. This lead to a substantial reduction in code, increased flexibility, eased software upgrades, and realized a savings in software maintenance costs.

Allen, Cheryl L.↗
NASA NTRSDate not supplied

NASA Lunar Surface Innovation Initiative: Ensuring a Cohesive, Executable Strategy for Technology Development

Establishing a sustainable human presence on the Moon allows NASA to develop and test new approaches, technologies, and systems that will enable us to function in other, more challenging environments. The Lunar Surface Innovation Initiative (LSII) was established in 2019 and has evolved into a key agency asset to spur technology development and provide risk reduction for lunar surface system development and flight demonstrations. LSII coordinates activities implemented through a combination of in-house activities, competitive programs, and public-private partnerships to create transformative technologies needed for lunar surface exploration. This paper will outline the LSII model used to develop a technology pipeline that will retire the primary technology hurdles in six capability areas. In-situ resource utilization technologies for collecting, processing, storing, and using material found or manufactured on the Moon. Surface power technologies that provide the capability for sustainable, continuous power throughout the day and night for lunar missions. Dust mitigation strategies that diminish lunar dust hazards on lunar surface systems such as cameras, solar panels, space suits, habitats, and instrumentation. Extreme environments technologies that enable systems to operate throughout the full range of lunar surface conditions, including lunar noon (up to 150 at the equator), night (down to - 180 at the equator), multiple day/night cycles, and in permanently shadowed regions (down to -250). Extreme access technologies that enable humans or robotic systems to access, navigate, and explore previously inaccessible lunar surface or subsurface areas. Excavation and construction technologies that will allow affordable, autonomous manufacturing or construction. We outline key results, including milestones and achievements related to the capability areas and outcomes from partnerships with the commercial sector. A key tenet of the LSII is the Lunar Surface Innovation Consortium (LSIC), a collaboration across industry, academia, and government to successfully develop the transformative capabilities for lunar surface exploration. LSIC provides a forum for NASA to communicate technological requirements, needs, and opportunities and for the community to share existing capabilities and identify critical gaps with NASA. By working side by side with commercial enterprises and our international partners, NASA is able to combine the knowledge and expertise needed to explore the lunar surface and make technical advances that will feed technological and economic growth. Since its inception, LSII has engaged over 600 organizations across the United States and 46 countries to shape the technologies and systems needed to explore the lunar surface and stimulate a lunar surface economy.

lunar, lunar surface, technology development, ISRU↗