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NASA NTRS2008

Vision System Measures Motions of Robot and External Objects

A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.

Talukder, Ashit↗

DOE OSTI2016

LaserSnake2: Remote High Powered Laser Cutting in Confined Hazardous Spaces - 16161

LaserSnake2, a UK collaborative project, seeks to deliver remotely operated cutting techniques into high hazard nuclear environments. This paper describes the developments and results of combining proven robotic manipulators with high-powered laser cutting tools, to allow for selective dismantling within complex nuclear process cells. Decommissioning old and poorly catalogued nuclear plant is a problem faced the world over. Designed with little consideration for decommissioning, or adapted significantly from the original drawings, legacy plant and infrastructure is full of spaces where it is undesirable or impossible to send people. Typically, a process cell or cave will require modification to ensure suitability for human entry or deployment of heavy duty equipment to complete the decontamination processes. The process of widening access routes, or selectively moving sections of highly contaminated material, is ideally suited to remote handling technology. The results of TWI's research into fibre-delivered laser cutting techniques, and integration with a dexterous snake-arm robot, are presented. Coupled with novel laser process head design and diffractive optical elements, the result is an integrated system capable of cutting up to 100 mm thick C-Mn steel plate at significant stand-off distances, encompassing the range of infrastructure found in a typical nuclear plant. Two options have been considered for deployment of the laser cutting tool. The first is focused on a fixed installation using a standard industrial robot. The second is a large, highly flexible snake-arm robot capable of entering cluttered cells through existing penetrations. Designed to operate through a standard 11'' MSM port, the 4.5 m snake-arm robot has the capacity to carry grippers, sensors or the laser cutting tool at the tip. The snake-arm is sealed and housed within a glove box for contamination control, allowing operation within a radioactive environment. Significant technical developments and material research are presented which have led to improved operational life, payload and bend. This paper describes the series of inactive trials which have been conducted to demonstrate the LaserSnake2 system's capabilities. These include: horizontal and vertical deployment, underwater operation, object manipulation and laser cutting. With global nuclear decommissioning costs running in to the $trillions, safe and cost efficient tools such as the LaserSnake2 system are essential as part of the decommissioning toolbox. Remote handling can account for up to 20% of a decommissioning project's costs, however significant time and financial savings can be made by utilising this new technology to reduce operator exposure and reach previously inaccessible areas. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2016

Towards Autonomous Aviation Operations: What Can We Learn from Other Areas of Automation?

Rapid advances in automation has disrupted and transformed several industries in the past 25 years. Automation has evolved from regulation and control of simple systems like controlling the temperature in a room to the autonomous control of complex systems involving network of systems. The reason for automation varies from industry to industry depending on the complexity and benefits resulting from increased levels of automation. Automation may be needed to either reduce costs or deal with hazardous environment or make real-time decisions without the availability of humans. Space autonomy, Internet, robotic vehicles, intelligent systems, wireless networks and power systems provide successful examples of various levels of automation. NASA is conducting research in autonomy and developing plans to increase the levels of automation in aviation operations. This paper provides a brief review of levels of automation, previous efforts to increase levels of automation in aviation operations and current level of automation in the various tasks involved in aviation operations. It develops a methodology to assess the research and development in modeling, sensing and actuation needed to advance the level of automation and the benefits associated with higher levels of automation. Section II describes provides an overview of automation and previous attempts at automation in aviation. Section III provides the role of automation and lessons learned in Space Autonomy. Section IV describes the success of automation in Intelligent Transportation Systems. Section V provides a comparison between the development of automation in other areas and the needs of aviation. Section VI provides an approach to achieve increased automation in aviation operations based on the progress in other areas. The final paper will provide a detailed analysis of the benefits of increased automation for the Traffic Flow Management (TFM) function in aviation operations.

Sridhar, Banavar↗

NASA NTRS2013

Practical Application of PRA as an Integrated Design Tool for Space Systems

This paper presents the application of the first comprehensive Probabilistic Risk Assessment (PRA) during the design phase of a joint NASA/NOAA weather satellite program, Geostationary Operational Environmental Satellite Series R (GOES-R). GOES-R is the next generation weather satellite primarily to help understand the weather and help save human lives. PRA has been used at NASA for Human Space Flight for many years. PRA was initially adopted and implemented in the operational phase of manned space flight programs and more recently for the next generation human space systems. Since its first use at NASA, PRA has become recognized throughout the Agency as a method of assessing complex mission risks as part of an overall approach to assuring safety and mission success throughout project lifecycles. PRA is now included as a requirement during the design phase of both NASA next generation manned space vehicles as well as for high priority robotic missions. The influence of PRA on GOES-R design and operation concepts are discussed in detail. The GOES-R PRA is unique at NASA for its early implementation. It also represents a pioneering effort to integrate risks from both Spacecraft (SC) and Ground Segment (GS) to fully assess the probability of achieving mission objectives. PRA analysts were actively involved in system engineering and design engineering to ensure that a comprehensive set of technical risks were correctly identified and properly understood from a design and operations perspective. The analysis included an assessment of SC hardware and software, SC fault management system, GS hardware and software, common cause failures, human error, natural hazards, solar weather and infrastructure (such as network and telecommunications failures, fire). PRA findings directly resulted in design changes to reduce SC risk from micro-meteoroids. PRA results also led to design changes in several SC subsystems, e.g. propulsion, guidance, navigation and control (GNC), communications, mechanisms, and command and data handling (C&DH). The fault tree approach assisted in the development of the fault management system design. Human error analysis, which examined human response to failure, indicated areas where automation could reduce the overall probability of gaps in operation by half. In addition, the PRA brought to light many potential root causes of system disruptions, including earthquakes, inclement weather, solar storms, blackouts and other extreme conditions not considered in the typical reliability and availability analyses. Ultimately the PRA served to identify potential failures that, when mitigated, resulted in a more robust design, as well as to influence the program's concept of operations. The early and active integration of PRA with system and design engineering provided a well-managed approach for risk assessment that increased reliability and availability, optimized lifecyc1e costs, and unified the SC and GS developments.

Kalia, Prince↗

NASA NTRS2017

Human Space Flight and Future Major Space Astrophysics Missions: Servicing and Assembly

Some concepts for candidate future "flagship" space observatories approach the payload limits of the largest launch vehicles planned for the next few decades, specifically in the available volume in the vehicle fairing. This indicates that an alternative to autonomous self-deployment similar to that of the James Webb Space Telescope will eventually be required. Moreover, even before this size limit is reached, there will be significant motivation to service, repair, and upgrade in-space missions of all sizes, whether to extend the life of expensive facilities or to replace outworn or obsolete onboard systems as was demonstrated so effectively by the Hubble Space Telescope program. In parallel with these challenges to future major space astronomy missions, the capabilities of in-space robotic systems and the goals for human space flight in the 2020s and 2030s offer opportunities for achieving the most exciting science goals of the early 21st Century. In this paper, we summarize the history of concepts for human operations beyond the immediate vicinity of the Earth, the importance of very large apertures for scientific discovery, and current capabilities and future developments in robot- and astronaut-enabled servicing and assembly.

Hubble Space Telescope↗

DOE OSTI2018

Results of Robotic Evaluation of Uranium-235 in Gaseous Diffusion Piping Holdup Deposits - 18303

Measurement of U-235 in pipes within old uranium enrichment facilities is time-consuming and very costly. Radiometric assay from outside the pipes suffers from manual deployment challenges, attenuation of detection through pipe walls, long counting times, approximate modeling, and shortfalls associated with transcription and human interpretation. The D and D process of cutting into these pipes creates a unique possibility of robotic in-pipe assay to address these problems. This paper presents the results of testing a first-of-kind radiometric non-destructive assay (NDA) robot for high-cadence, accurate, certain, paperless assay of U-235 in holdup deposits within process piping. The robot's enabling capability is an innovative radiometric collimation method that views only a one-foot moving annulus of pipe wall. This exploits the internal axisymmetry of pipes to provide a direct measurement of industry-standard grams per foot U-235. The initial proof-of-application robot was successfully hot tested by operators at the Gaseous Diffusion Enrichment Facility in Piketon, Ohio, in late 2017. This testing achieved all goals of traversing pipe, measuring U-235, deployment by facility personnel, and displaying analyzed radiation, visual, and geometric information. The success was a Kitty Hawk moment. The system demonstrated robotic in-pipe measurement of holdup deposit to a resolution, accuracy, and speed unachievable by alternate methods. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2019

An Update on the CCSDS Optical Communications Working Group Interoperability Standards

International space agencies around the world are working together in the Interagency Operation Advisory Group (IOAG) and the Consultative Committee for Space Data Systems (CCSDS) to develop interoperability standards for optical communications. The standards support optical communication systems for both Near Earth and Deep Space robotic and human-rated spacecraft. The standards generally address both free space links between spacecraft and free space links between spacecraft and ground. This paper will overview the history and structure of the CCSDS Optical Communications Working Group and provide an update on the set of optical communications standards being developed. The paper will address the ongoing work on High Photon Efficiency communications, High Data Rate communications, and Optical On/Off Keying communications. It will also cover the working being done within CCSDS on documenting atmospheric measurement techniques and link operations concepts.

Edwards, Bernard L.↗

NASA NTRS1988

The WCSAR telerobotics test bed

Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators.

Duffie, N.↗

NASA NTRS2020

NASA Next-Generation Sensing Technologies for Earth & Planetary Science

Dr. Ved Chirayath's seminar will highlight new sensing technologies and airborne platforms he is developing for Earth & Space Science as director of the NASA Silicon Valley Laboratory for Advanced Sensing. His talk will feature recent work on Fluid Lensing, the first remote sensing technology capable of imaging through ocean waves in 3D at sub-cm resolutions, MiDAR, a next-generation active hyperspectral remote sensing and optical communications instrument, airborne gas sensing of multipollutant combustion sources, and a plasma actuated unmanned aerial vehicle (UAV) that utilized high-voltage dielectric discharge devices to achieve the first plasma controlled flight in history.Fluid Lensing and the NASA FluidCam instrument have been used extensively to provide distortion-free 3D multispectral imagery from UAVs of shallow marine systems around the world. MiDAR is being deployed on aircraft and underwater remotely operated vehicles (ROVs) as a new method to remotely sense living and nonliving structures in extreme environments as an analog for future Ocean Worlds robotic exploration missions. Finally, Chirayath will present preliminary results from NeMO-Net, a supercomputer-based neural network that uses a citizen science video game for global multimodal coral reef benthic habitat mapping, fusing remote sensing data from Fluid Lensing, MiDAR, NASA's Earth Observing System, and commercial satellites, to better understand the present and past dynamics of shallow marine systems. Together, these maturing technologies present promising new ways in which to explore terrestrial, marine, and aerial systems on Earth, and, ultimately, aid in the search for extraterrestrial life within our solar system and beyond.

Chirayath, Ved↗

NASA NTRS2022

Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity

We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, semantics remain invariant to changes up to the robustness of the detection algorithm and motion of the semantic objects. In this work, we describe our approaches for both offline semantic map generation as well as online localization against a semantic map, intended to run in real-time on the robot. We additionally demonstrate how our semantic localizer outperforms image-feature matching in some cases, and show the robustness of the algorithm to environmental changes. Crucially, we show in our experiments that when semantics are used to supplement point features, localization is always improved. To our knowledge, these experiments demonstrate the first use of learned semantics for localization on a free-flying robot in microgravity.

Localization↗

DOE OSTI2018

Management of Digital Equipment in Preproduction by Means of Uniform Numeric Control Language

The requirements on preproduction and the control software for various digital machining systems (numerically controlled machine tools, robot manipulators, additive manufacturing equipment) in flexible production are considered. By analysis of existing programming languages for digital equipment, UNCL (Uniform Numeric Control Language) has been developed for standard representation of control commands. The use of UNCL in verifying program operation on a machining simulator is considered. Software for the translation of control programs (specified in CLDATA formats and in ISO code) to the invariant format of the universal language is described. The postprocessing of control software from the universal language into programs in commonly used digital control systems is also considered.

42 ENGINEERING↗

NASA NTRS2001

Virtual reality robotic telesurgery simulations using MEMICA haptic system

The authors conceived a haptic mechanism called MEMICA (Remote Mechanical Mirroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace haptic system. The development of a novel MEMICA gloves and virtual reality models are being explored to allow simulation of telesurgery and other applications. The MEMICA gloves are being designed to provide intuitive mirroring of the conditions at a virtual site where a robot simulates the presence of a human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and electrically controlled force and stiffness (ECFS) actuators that are based on the use of Electro-Rheological Fluids (ERF. In this paper the design of the MEMICA system and initial experimental results are presented.

Haptic interfaces↗

NASA NTRS1987

Key technology issues for space robotic systems

Robotics has become a key technology consideration for the Space Station project to enable enhanced crew productivity and to maximize safety. There are many robotic functions currently being studied, including Space Station assembly, repair, and maintenance as well as satellite refurbishment, repair, and retrieval. Another area of concern is that of providing ground based experimenters with a natural interface that they might directly interact with their hardware onboard the Space Station or ancillary spacecraft. The state of the technology is such that the above functions are feasible; however, considerable development work is required for operation in this gravity-free vacuum environment. Furthermore, a program plan is evolving within NASA that will capitalize on recent government, university, and industrial robotics research and development (R and D) accomplishments. A brief summary is presented of the primary technology issues and physical examples are provided of the state of the technology for the initial operational capability (IOC) system as well as for the eventual final operational capability (FOC) Space Station.

Schappell, Roger T.↗

NASA NTRS2017

ISRU-Based Robotic Construction Technologies For Lunar And Martian Infrastructures

Economically viable and reliable building systems and tool sets are being sought, examined and tested for extraterrestrial infrastructure buildup. This project utilizes a unique architecture weaving the robotic building construction technology with designs for assisting rapid buildup of initial operational capability Lunar and Martian bases. The project intends to develop and test methodologies to construct certain crucial infrastructure elements in order to evaluate the merits, limitations and feasibility of adapting and using such technologies for extraterrestrial application. High priority infrastructure elements suggested by our NASA advisors to be considered include landing pads and aprons, roads, blast walls and shade walls, thermal and micrometeorite protection shields and dust-free platforms utilizing the well-known insitu resource utilization (ISRU) strategy. Current extraterrestrial settlement buildup philosophy holds that in order to minimize the materials needed to be flown in, at great transportation costs, strategies that maximize the use of locally available resources must be adopted. Tools and heavy equipment flown as cargo from Earth are proposed to build required infrastructure to support future missions and settlements on the Moon and Mars. Several unique systems including the Lunar Electric Rover, the unpressurized Chariot rover, the versatile light-weight crane and Tri-Athlete cargo transporter as well as the habitat module mockups and a new generation of spacesuits are undergoing coordinated tests at NASAs D-RATS. This project intends to draw up a detailed synergetic plan to utilize these maturing systems coupled with modern robotic fabrication technologies based primarily on 3D Printing, tailored for swift and reliable Lunar and Martian infrastructure development. This project also intends to increase astronaut safety, improve buildup performance, ameliorate dust interference and concerns, and reduce time-to-commission, all in an economic manner. The goal stated in our Phase I proposal was a high fidelity demonstration at D-RATS to be conducted at the conclusion of the Phase II study. In the course of the Phase I study, however, it became clear that such demonstration was neither possible (due to the maximum Phase II budget limitation and the cost of NASA assets and related overhead expenses to support such demonstrations), nor necessary (due to NASA's low TRL expectation of Phase II results). These important facts were revealed to us only after interacting with the NIAC administrators and meetings with potential future partners at JPL and KSC. Accordingly, it was decided by the team that in order to make best use of resources we should investigate novel directions in the adaptation of our fabrication technologies by using in-house laboratories and to produce truly useful technologies and data, and then proceed with high fidelity demonstration at a later opportunity when sufficient resources become available. Furthermore, we have recognized that in addition to our building scale 3D printing technology called Contour Crafting, variations of some of our other fabrication technologies under development are suitable for construction of infrastructure elements such as regolith based ceramic tiles and hence we have decided to include some related preliminary research in this Phase II proposal.

Extraterrestrial↗

NASA NTRS2020

Building a standardized Observing System Simulation Experiment (OSSE) framework for Mars

We advocate that the Decadal Survey recommends the NASA Science Mission Directorate to develop a rigorous Observing System Simulation Experiment (OSSE) framework for Mars, to optimize future atmospheric observations. Atmospheric conditions on Mars are a potential hazard source for landing missions. Errors in the estimates of atmospheric density profiles, inadequate knowledge of wind vertical structure and dust concentration as a function of height are likely causes of uncertainty at the landing site on the order of kilometers. An operational real-time weather forecasting capability for Mars would reduce such uncertainties, carrying enormous benefits to future robotic missions, and would be an invaluable prerequisite for human missions.A real-time forecasting capability relies upon three fundamental components: a critical mass of observing systems, a data assimilation system (DAS), and a global forecast model. The DAS allows the model to ingest the data effectively, optimizing the observational information content,and transforming them into a gridded representation of the atmosphere at a given time, called an ‘analysis’. The analysis is the best estimate of the atmospheric state for that time, and also represents a set of ‘initial conditions’ from which a global model can be initialized, to predict a future state of the atmosphere. The connection between analysis and forecast represents the foundation of modern weather forecasting. However, from the point of view of a forecast system,not all observations are equally impactful, partially because of the problem of “observational error correlation”, one important research topic in data assimilation development. For the Earth, partly due to the spontaneous and deregulated development of observations and forecast capabilities worldwide for more than half a century,the use of observations in contemporary operational forecast systems is suboptimal, with many potentially useful data being underutilized. On the contrary, Mars atmospheric scientists are in the unique situation of designing the next-generation observing systems by learning from the experience gathered on the Earth, so as to assure that the future instruments are specifically optimized to give the maximum benefit to a future weather forecast capability.An immensely powerful tool that has been firmly established by atmospheric scientists on the Earth is represented by a properly designed OSSE framework. A realistic OSSE framework cannot only quantify the benefit of future data types, be them surface based or space borne, but can also help design and optimize an entire observational network. Furthermore, OSSEs can provide deep insights into an atmosphere’s behavior, by addressing conceptual problems of its intrinsic predictability and delineating the regions or features of the atmosphere which are more sensitive to additional data and would benefit from a denser sampling. The difficulties posed by OSSEs are fundamentally different for Earth and Mars. For Earth, the enormous data volume imposes a tremendous constraint on any innovation in the observing systems: it is very hard for a single sensor to impact the skill. For Mars, the problem is the opposite: almost any additional instrument will exert some impact. However, OSSEs can help to evaluate the cost/benefit for every sensor and suggest optimal data configuration and density.The purpose of this white paper is to provide an introduction to a rigorously designed OSSE framework, explain the underlying problems and challenges, and engage the Mars community to collaborate with Earth Atmospheric scientists in order to develop a joint-OSSE framework for Mars with the largest consensual basis possible. An OSSE infrastructure would increase the understanding of the Martian atmosphere, would help NASA to optimize instrument specifications and orbit choice, providing the maximium benefit for a given expenditure of resources, and could even help establishing a roadmap for a future real-time weather forecasting capability.

Oreste Reale↗

DOE OSTI2021

Searay Autonomous Offshore Power System AOPS: Results of Sea Trials and Payload Support Demonstration

As the offshore energy sector looks to fully implement resident, autonomous, robotic, digital systems offshore, one missing piece of the puzzle is remote power generation. Further complicating these efforts are the owner/operators’ move towards net zero operations. Here, the combination represents a significant dilemma for the offshore energy industry: if gensets and topside vessels are not appropriate or practical power sources for future resident systems, how will these needed cost and carbon-saving innovations come to market and get deployed in the field?

16 TIDAL AND WAVE POWER↗

NASA NTRS1987

NASA Office of Space Flight (OSF) in-orbit servicing program

Tools, fixtures and systems being developed to improve the efficiency of extravehicular activity (EVA) servicing operations; and tools developed for EVA use being adapted for use in robot-assisted EVA, local robotic servicing, and remote robotic servicing, are presented. The basic types of satellite servicing operations, the various modes by which they can be accomplished, and the hardware which supports these modes are outlined. The program and hardware elements of the program infrastructure are reviewed.

Levin, George C.↗

NASA NTRS1992

Linear decentralized learning control

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Lee, Soo C.↗