New Planetary Rovers for Long Range Mars Science and Sample Return
There are significant international efforts underway to place mobile robots (rovers) on the surface of Mars.
sample return planetary science↗
SEARCH · Engineering Papers
Results for “Space Robotics”
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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Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist
The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.
Nguyen, Charles C.↗
The Gateway: Enabling Infrastructure for a New Era of Lunar Robotics
Overview of the proposed "Deep Space Gateway" and how it could support future lunar robotics.
Fong, Terry↗
Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems
This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.
Amy M Quartaro↗
Real-time control for manufacturing space shuttle main engines: Work in progress
During the manufacture of space-based assemblies such as Space Shuttle Main Engines, flexibility is required due to the high-cost and low-volume nature of the end products. Various systems have been developed pursuing the goal of adaptive, flexible manufacturing for several space applications, including an Advanced Robotic Welding System for the manufacture of complex components of the Space Shuttle Main Engines. The Advanced Robotic Welding System (AROWS) is an on-going joint effort, funded by NASA, between NASA/Marshall Space Flight Center, and two divisions of Rockwell International: Rocketdyne and the Science Center. AROWS includes two levels of flexible control of both motion and process parameters: Off-line programming using both geometric and weld-process data bases, and real-time control incorporating multiple sensors during weld execution. Both control systems were implemented using conventional hardware and software architectures. The feasibility of enhancing the real-time control system using the problem-solving architecture of Schemer is investigated and described.
Ruokangas, Corinne C.↗
Teleoperation to robotics at Langley Research Center
Experience of NASA Langley Research Center in teleoperation, telerobotics, and robotics in applications related to possible space tasks is reviewed. Shared control based on manual and sensor blending in a rate command control system made it possible to simultaneously control two or more manipulators executing a telerobotic task from a single hand controller. It is concluded that telerobotics combines the best features of teleoperation and robotics and is sufficiently mature for simple space tasks. Robotics is considered to be feasible but less mature and must be highly reliable.
Pennington, Jack E.↗
Self mobile space manipulator project
A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.
Brown, H. Ben↗
Model Checking JAVA Programs Using Java Pathfinder
This paper describes a translator called JAVA PATHFINDER from JAVA to PROMELA, the "programming language" of the SPIN model checker. The purpose is to establish a framework for verification and debugging of JAVA programs based on model checking. This work should be seen in a broader attempt to make formal methods applicable "in the loop" of programming within NASA's areas such as space, aviation, and robotics. Our main goal is to create automated formal methods such that programmers themselves can apply these in their daily work (in the loop) without the need for specialists to manually reformulate a program into a different notation in order to analyze the program. This work is a continuation of an effort to formally verify, using SPIN, a multi-threaded operating system programmed in Lisp for the Deep-Space 1 spacecraft, and of previous work in applying existing model checkers and theorem provers to real applications.
Havelund, Klaus↗
DRAGONS - A Micrometeoroid and Orbital Debris Impact Sensor
The Debris Resistive/Acoustic Grid Orbital Navy-NASA Sensor (DRAGONS) is intended to be a large area impact sensor for in situ measurements of micrometeoroids and orbital debris (MMOD) in the millimeter or smaller size regime. These MMOD particles are too small to be detected by ground-based radars and optical telescopes, but are still large enough to be a serious safety concern for human space activities and robotic missions in the low Earth orbit (LEO) region. The nominal detection area of a DRAGONS unit is 1 m2, consisting of several independently operated panels. The approach of the DRAGONS design is to combine different particle impact detection principles to maximize information that can be extracted from detected events. After more than 10 years of concept and technology development, a 1 m2 DRAGONS system has been selected for deployment on the International Space Station (ISS) in August 2016. The project team achieved a major milestone when the Preliminary Design Review (PDR) was completed in May 2015. Once deployed on the ISS, this multi-year mission will provide a unique opportunity to demonstrate the MMOD detection capability of the DRAGONS technologies and to collect data to better define the small MMOD environment at the ISS altitude.
Liou, J. -C.↗
NASA Aeronautics Research: An Assessment
The U.S. air transportation system is vital to the economic well-being and security of the United States. To support continued U.S. leadership in aviation, Congress and NASA requested that the National Research Council undertake a decadal survey of civil aeronautics research and technology (R&T) priorities that would help NASA fulfill its responsibility to preserve U.S. leadership in aeronautics technology. In 2006, the National Research Council published the Decadal Survey of Civil Aeronautics. That report presented a set of six strategic objectives for the next decade of aeronautics R&T, and it described 51 high-priority R&T challenges--characterized by five common themes--for both NASA and non-NASA researchers. The National Research Council produced the present report, which assesses NASA's Aeronautics Research Program, in response to the National Aeronautics and Space Administration Authorization Act of 2005 (Public Law 109-155). This report focuses on three sets of questions: 1. How well does NASA's research portfolio implement appropriate recommendations and address relevant high-priority research and technology challenges identified in the Decadal Survey of Civil Aeronautics? If gaps are found, what steps should be taken by the federal government to eliminate them? 2. How well does NASA's aeronautics research portfolio address the aeronautics research requirements of NASA, particularly for robotic and human space exploration? How well does NASA's aeronautics research portfolio address other federal government department/agency non-civil aeronautics research needs? If gaps are found, what steps should be taken by NASA and/or other parts of the federal government to eliminate them? 3. Will the nation have a skilled research workforce and research facilities commensurate with the requirements in (1) and (2) above? What critical improvements in workforce expertise and research facilities, if any, should NASA and the nation make to achieve the goals of NASA's research program? This report continues the good work begun by the Decadal Survey of Civil Aeronautics, and it expands that work to consider in more depth NASA aeronautics research issues related to the space program, non-civil applications, workforce, and facilities.
Source record↗
A viable suboptimal controller for robotic manipulators
A simple algebraic solution is obtained to an optimal control problem in joint space for a general robotic manipulator. Open loop and closed loop control laws are obtained. The resulting control algorithm is similar in form to a commonly used heuristic controller using cubic polynomial trajectories.
Turner, T. L.↗
Intelligent Systems Technologies for Ops
As NASA supports International Space Station assembly complete operations through 2020 (or later) and prepares for future human exploration programs, there is additional emphasis in the manned spaceflight program to find more efficient and effective ways of providing the ground-based mission support. Since 2006 this search for improvement has led to a significant cross-fertilization between the NASA advanced software development community and the manned spaceflight operations community. A variety of mission operations systems and tools have been developed over the past decades as NASA has operated the Mars robotic missions, the Space Shuttle, and the International Space Station. NASA Ames Research Center has been developing and applying its advanced intelligent systems research to mission operations tools for both unmanned Mars missions operations since 2001 and to manned operations with NASA Johnson Space Center since 2006. In particular, the fundamental advanced software development work under the Exploration Technology Program, and the experience and capabilities developed for mission operations systems for the Mars surface missions, (Spirit/Opportunity, Phoenix Lander, and MSL) have enhanced the development and application of advanced mission operation systems for the International Space Station and future spacecraft. This paper provides an update on the status of the development and deployment of a variety of intelligent systems technologies adopted for manned mission operations, and some discussion of the planned work for Autonomous Mission Operations in future human exploration. We discuss several specific projects between the Ames Research Center and the Johnson Space Centers Mission Operations Directorate, and how these technologies and projects are enhancing the mission operations support for the International Space Station, and supporting the current Autonomous Mission Operations Project for the mission operation support of the future human exploration programs.
Smith, Ernest E.↗
Survey of current situation in radiation belt modeling
The study of Earth's radiation belts is one of the oldest subjects in space physics. Despite the tremendous progress made in the last four decades, we still lack a complete understanding of the radiation belts in terms of their configurations, dynamics, and detailed physical accounts of their sources and sinks. The static nature of early empirical trapped radiation models, for examples, the NASA AP-8 and AE-8 models, renders those models inappropriate for predicting short-term radiation belt behaviors associated with geomagnetic storms and substorms. Due to incomplete data coverage, these models are also inaccurate at low altitudes (e.g., <1000 km) where many robotic and human space flights occur. The availability of radiation data from modern space missions and advancement in physical modeling and data management techniques have now allowed the development of new empirical and physical radiation belt models. In this paper, we will review the status of modern radiation belt modeling. Published by Elsevier Ltd on behalf of COSPAR.
Protons↗
Contractor and government - Teamwork and commitment
Procedures being implemented at NASA to improve cooperation with contractors and increase productivity are reviewed from the NASA point of view. The goals of the U.S. space program for the coming 25 years are listed, and the importance of the commercial utilization of space in these plans is stressed. Consideration is given to the ongoing American Productivity Center White-Collar Productivity-Improvement Project, the implementation of the recommendations of the 1984 NASA/Contractor Conferences in present and future contracts, and the use of incentive contracts to create situations in which both NASA and the contractor benefit from increased productivity. Future plans call for increased industry responsibility in managing and operating the STS; steamlining of Shuttle operations; advanced design-to-cost procedures, increased commonality, better NASA-contractor communications, and more use of CAD/CAM and robotics for the Space Station; and accommodation of greatly expanded private investment and exploitation of space.
Griffin, G. D.↗
Graphical interface between the CIRSSE testbed and CimStation software with MCS/CTOS
This research is concerned with developing a graphical simulation of the testbed at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) and the interface which allows for communication between the two. Such an interface is useful in telerobotic operations, and as a functional interaction tool for testbed users. Creating a simulated model of a real world system, generates inevitable calibration discrepancies between them. This thesis gives a brief overview of the work done to date in the area of workcell representation and communication, describes the development of the CIRSSE interface, and gives a direction for future work in the area of system calibration. The CimStation software used for development of this interface, is a highly versatile robotic workcell simulation package which has been programmed for this application with a scale graphical model of the testbed, and supporting interface menu code. A need for this tool has been identified for the reasons of path previewing, as a window on teleoperation and for calibration of simulated vs. real world models. The interface allows information (i.e., joint angles) generated by CimStation to be sent as motion goal positions to the testbed robots. An option of the interface has been established such that joint angle information generated by supporting testbed algorithms (i.e., TG, collision avoidance) can be piped through CimStation as a visual preview of the path.
Hron, Anna B.↗
Cumulative Measurement Errors for Dynamic Testing of Space Flight Hardware
Located at the NASA Johnson Space Center in Houston, TX, the Six-Degree-of-Freedom Dynamic Test System (SDTS) is a real-time, six degree-of-freedom, short range motion base simulator originally designed to simulate the relative dynamics of two bodies in space mating together (i.e., docking or berthing). The SDTS has the capability to test full scale docking and berthing systems utilizing a two body dynamic docking simulation for docking operations and a Space Station Remote Manipulator System (SSRMS) simulation for berthing operations. The SDTS can also be used for nonmating applications such as sensors and instruments evaluations requiring proximity or short range motion operations. The motion base is a hydraulic powered Stewart platform, capable of supporting a 3,500 lb payload with a positional accuracy of 0.03 inches. The SDTS is currently being used for the NASA Docking System testing and has been also used by other government agencies. The SDTS is also under consideration for use by commercial companies. Examples of tests include the verification of on-orbit robotic inspection systems, space vehicle assembly procedures and docking/berthing systems. The facility integrates a dynamic simulation of on-orbit spacecraft mating or de-mating using flight-like mechanical interface hardware. A force moment sensor is used for input during the contact phase, thus simulating the contact dynamics. While the verification of flight hardware presents unique challenges, one particular area of interest involves the use of external measurement systems to ensure accurate feedback of dynamic contact. The measurement systems for the test facility have two separate functions. The first is to take static measurements of facility and test hardware to determine both the static and moving frames used in the simulation and control system. The test hardware must be measured after each configuration change to determine both sets of reference frames. The second function is to take dynamic measurements during hardware motion and contact. While performing dynamic testing of an active docking system, researchers found that the data from the motion platform, test hardware and two external measurement systems exhibited frame offsets and rotational errors. While the errors were relatively small when considering the motion scale overall, they substantially exceeded the individual accuracies for each component. After evaluating both the static and dynamic measurements, researchers found that the static measurements introduced significantly more error into the system than the dynamic measurements even though, in theory, the static measurement errors should be smaller than the dynamic. In several cases, the magnitude of the errors varied widely for the static measurements. Upon further investigation, researchers found the larger errors to be a consequence of hardware alignment issues, frame location and measurement technique whereas the smaller errors were dependent on the number of measurement points. This paper details and quantifies the individual and cumulative errors of the docking system and describes methods for reducing the overall measurement error. The overall quality of the dynamic docking tests for flight hardware verification was improved by implementing these error reductions.
Winnitoy, Susan↗
A Survey of LIDAR Technology and Its Use in Spacecraft Relative Navigation
This paper provides a survey of modern LIght Detection And Ranging (LIDAR) sensors from a perspective of how they can be used for spacecraft relative navigation. In addition to LIDAR technology commonly used in space applications today (e.g. scanning, flash), this paper reviews emerging LIDAR technologies gaining traction in other non-aerospace fields. The discussion will include an overview of sensor operating principles and specific pros/cons for each type of LIDAR. This paper provides a comprehensive review of LIDAR technology as applied specifically to spacecraft relative navigation. HE problem of orbital rendezvous and docking has been a consistent challenge for complex space missions since before the Gemini 8 spacecraft performed the first successful on-orbit docking of two spacecraft in 1966. Over the years, a great deal of effort has been devoted to advancing technology associated with all aspects of the rendezvous, proximity operations, and docking (RPOD) flight phase. After years of perfecting the art of crewed rendezvous with the Gemini, Apollo, and Space Shuttle programs, NASA began investigating the problem of autonomous rendezvous and docking (AR&D) to support a host of different mission applications. Some of these applications include autonomous resupply of the International Space Station (ISS), robotic servicing/refueling of existing orbital assets, and on-orbit assembly.1 The push towards a robust AR&D capability has led to an intensified interest in a number of different sensors capable of providing insight into the relative state of two spacecraft. The present work focuses on exploring the state-of-the-art in one of these sensors - LIght Detection And Ranging (LIDAR) sensors. It should be noted that the military community frequently uses the acronym LADAR (LAser Detection And Ranging) to refer to what this paper calls LIDARs. A LIDAR is an active remote sensing device that is typically used in space applications to obtain the range to one or more points on a target spacecraft. As the name suggests, LIDAR sensors use light (typically a laser) to illuminate the target and measure the time it takes for the emitted signal to return to the sensor. Because the light must travel from the source, to
Christian, John A.↗
Dynamic reasoning in a knowledge-based system
Any space based system, whether it is a robot arm assembling parts in space or an onboard system monitoring the space station, has to react to changes which cannot be foreseen. As a result, apart from having domain-specific knowledge as in current expert systems, a space based AI system should also have general principles of change. This paper presents a modal logic which can not only represent change but also reason with it. Three primitive operations, expansion, contraction and revision are introduced and axioms which specify how the knowledge base should change when the external world changes are also specified. Accordingly the notion of dynamic reasoning is introduced, which unlike the existing forms of reasoning, provide general principles of change. Dynamic reasoning is based on two main principles, namely minimize change and maximize coherence. A possible-world semantics which incorporates the above two principles is also discussed. The paper concludes by discussing how the dynamic reasoning system can be used to specify actions and hence form an integral part of an autonomous reasoning and planning system.
Rao, Anand S.↗