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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Beyond DNA Sequencing in Space: Current and Future Omics Capabilities of the Biomolecule Sequencer Payload

Why do we need a DNA sequencer to support the human exploration of space? (A) Operational environmental monitoring; (1) Identification of contaminating microbes, (2) Infectious disease diagnosis, (3) Reduce down mass (sample return for environmental monitoring, crew health, etc.). (B) Research; (1) Human, (2) Animal, (3) Microbes/Cell lines, (4) Plant. (C) Med Ops; (1) Response to countermeasures, (2) Radiation, (3) Real-time analysis can influence medical intervention. (C) Support astrobiology science investigations; (1) Technology superiorly suited to in situ nucleic acid-based life detection, (2) Functional testing for integration into robotics for extraplanetary exploration mission.

Wallace, Sarah↗
NASA NTRSDate not supplied

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Exploration crew time in space is precious – every hour could yield immense scientific discovery. However, overhead tasks such as logistics, maintenance, and assembly greatly limit crew time available for science and exploration. Robotic remote operations capabilities offer a solution, but operating mobile dexterous robots in human centered environments presents many unknowns and challenges, therefore testing is needed. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation for space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular task environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of remote space robot operations systems with Earth supervision.

Robotics↗
NASA NTRS2009

Tele-Supervised Adaptive Ocean Sensor Fleet

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Lefes, Alberto↗
NASA NTRS1988

Systems integration for the Kennedy Space Center (KSC) Robotics Applications Development Laboratory (RADL)

A laboratory for developing robotics technology for hazardous and repetitive Shuttle and payload processing activities is discussed. An overview of the computer hardware and software responsible for integrating the laboratory systems is given. The center's anthropomorphic robot is placed on a track allowing it to be moved to different stations. Various aspects of the laboratory equipment are described, including industrial robot arm control, smart systems integration, the supervisory computer, programmable process controller, real-time tracking controller, image processing hardware, and control display graphics. Topics of research include: automated loading and unloading of hypergolics for space vehicles and payloads; the use of mobile robotics for security, fire fighting, and hazardous spill operations; nondestructive testing for SRB joint and seal verification; Shuttle Orbiter radiator damage inspection; and Orbiter contour measurements. The possibility of expanding the laboratory in the future is examined.

Davis, V. Leon↗
NASA NTRS1987

Local Data Processing for a Robot Hand

Integrated-circuit microcomputers process signals among sensors, external controls, and end-effector motor. Multiple-microprocessor system within end effector of remote manipulator accepts data from sensors in end effector, commumnicates with external control system, and controls end-effector motor. External system includes central control computer (which interacts with operator) and display. Local dataprocessing system in end effector relieves external control system of some of its computational load and minimizes data communication load with external higher level controller.

Bejczy, A. K.↗
NASA NTRS2011

Low Cost Space Demonstration for a Single-Person Spacecraft

This paper introduces a concept for a single-person spacecraft and presents plans for flying a low-cost, robotic demonstration mission. Called FlexCraft, the vehicle integrates propulsion and robotics into a small spacecraft that enables rapid, shirt-sleeve access to space. It can be flown by astronauts or tele-operated and is equipped with interchangeable manipulators used for maintaining the International Space Station (ISS), exploring asteroids, and servicing telescopes or satellites. Most FlexCraft systems are verified using ground facilities; however, a test in the weightless environment is needed to assess propulsion and manipulator performance. For this, a simplified, unmanned, version of FlexCraft is flown on a low-cost launch vehicle to a 350 km circular orbit. After separation from the upper stage, the vehicle returns to a target box mounted on the stage testing the propulsion and control capability. The box is equipped with manipulator test items that are representative of tasks performed on ISS, asteroid missions, or for satellites servicing. Nominal and off-nominal operations are conducted over 3 days then the vehicle re-enters the atmosphere without becoming a debris hazard. From concept to management to operations, the FlexCraft demonstration is designed to be low cost project that is launched within three years. This is possible using a simplified test configuration that eliminates nine systems unique to the operational version and by designing-to-availability. For example, the propulsion system is the same as the Manned Maneuvering Unit because it capable, simple, human-rated and all components or equivalent parts are available. A description of the launch vehicle options, mission operations, configuration, and demonstrator subsystems is presented.

Griffin, Brand N.↗
NASA NTRS1993

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗
NASA NTRS1987

Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Davis, Virgil Leon↗
NASA NTRS2019

Astrobee Free Flyers: Integrated and Tested. Ready for Launch!

As of March 2019, four Astrobee free-flying robots have been integrated, tested and shipped to NASA’s Johnson Space Center, Texas, ready to be launched to space. Two of these Astrobee units (Honey and Bumble) will be launched to the International Space Station (ISS) on April 17, 2019, on the Cygnus NG-11 (Northrop Grumman) cargo resupply spacecraft from the Mid-Atlantic Regional Spaceport (MARS) launch facility, at NASA's Wallops Flight Facility, in Virginia, while the third unit (Queen) will be launched in mid-July 2019, with the cargo resupply mission Space-X 18, from Cape Canaveral, at NASA’s Kennedy Space Center. The primary purpose of the Astrobee system is to provide an autonomous and flexible platform for research on zero-g free-flying robotics, with the ability to accommodate guest researchers looking to utilize the unique capabilities of this platform in the microgravity of low earth orbit, and to advance the state of the art of guest science software and research payloads, which range from gecko-inspired adhesives for perching on smooth surfaces, to augmented reality interfaces to help astronauts and robots work together effectively, to RFID reader, performing inventory of RFID tagged items inside the ISS. Astrobee will also serve utility functions, such as free-flying cameras to record video and provide assistance during astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. In this paper we will give an overview of the status of the Astrobee system, which includes the docking station already launched and mounted in the JAXA JEM module of the ISS, the Astrobee robots, the Astrobee robotic arms, the ground data system (GDS) and the development of the several guest science payloads.

Carlino, Roberto↗
NASA NTRS2005

A Robotics Systems Design Need: A Design Standard to Provide the Systems Focus that is Required for Longterm Exploration Efforts

The United States is entering a new period of human exploration of the inner Solar System, and robotic human helpers will be partners in that effort. In order to support integration of these new worker robots into existing and new human systems, a new design standard should be developed, to be called the Robot-Systems Integration Standard (RSIS). It will address the requirements for and constraints upon robotic collaborators with humans. These workers are subject to the same functional constraints as humans of work, reach, and visibility/situational awareness envelopes, and they will deal with the same maintenance and communication interfaces. Thus, the RSIS will be created by discipline experts with the same sort of perspective on these and other interface concerns as human engineers.

Dischinger, H. Charles., Jr.↗
NASA NTRS1987

Manipulator control and mechanization: A telerobot subsystem

The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

Hayati, S.↗
NASA NTRS1992

Data integration in multi-sensor based robotic workstations

A relaxation labeling algorithm is developed. The major advantage of this algorithm over the existing ones is that the mathematic operation is simplified. The simplification eases the analysis of the convergence properties. Both the theoretical and application aspects of the proposed algorithm are investigated. The local convergence properties of a labeling process with n labels and m labels are established. The investigation of the interaction among the nodes in a multinode labeling process reveals some insight into the mathematical issues involved in the relaxation operations.

Chen, Qin↗
NASA NTRS2015

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

Sanders, Adam M.↗
NASA NTRS1997

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Aldridge, Hal A.↗
NASA NTRS1991

Robotic control and inspection verification

Three areas of possible commercialization involving robots at the Kennedy Space Center (KSC) are discussed: a six degree-of-freedom target tracking system for remote umbilical operations; an intelligent torque sensing end effector for operating hand valves in hazardous locations; and an automatic radiator inspection device, a 13 by 65 foot robotic mechanism involving completely redundant motors, drives, and controls. Aspects concerning the first two innovations can be integrated to enable robots or teleoperators to perform tasks involving orientation and panal actuation operations that can be done with existing technology rather than waiting for telerobots to incorporate artificial intelligence (AI) to perform 'smart' autonomous operations. The third robot involves the application of complete control hardware redundancy to enable performance of work over and near expensive Space Shuttle hardware. The consumer marketplace may wish to explore commercialization of similiar component redundancy techniques for applications when a robot would not normally be used because of reliability concerns.

Davis, Virgil Leon↗
NASA NTRS2012

OpTIIX: An ISS-Based Testbed Paving the Roadmap Toward a Next Generation Large Aperture UV/Optical Space Telescope

The next generation large aperture UV/Optical space telescope will need a diameter substantially larger than even that of JWST in order to address some of the most compelling unanswered scientific quests. These quests include understanding the earliest phases of the Universe and detecting life on exo-planets by studying spectra of their atmospheres. Such 8-16 meter telescopes face severe challenges in terms of cost and complexity and are unlikely to be affordable unless a new paradigm is adopted for their design and construction. The conventional approach is to use monolithic or preassembled segmented mirrors requiring complicated and risky deployments and relying on future heavy-lift vehicles, large fairings and complex geometry. The new paradigm is to launch component modules on relatively small vehicles and then perform in-orbit robotic assembly of those modules. The Optical Testbed and Integration on ISS eXperiment (OpTIIX) is designed to demonstrate, at low cost by leveraging the infrastructure provided by ISS, telescope assembly technologies and end-to-end optical system technologies. The use of ISS as a testbed permits the concentration of resources on reducing the technical risks associated with robotically integrating the components. These include laser metrology and wavefront sensing and control (WFS&C) systems, an imaging instrument, lightweight, low-cost deformable primary mirror segments and the secondary mirror. These elements are then aligned to a diffraction-limited optical system in space. The capability to assemble the optical system and remove and replace components via the existing ISS robotic systems like the Special Purpose Dexterous Manipulator (SPDM), or by the ISS flight crew, allows for future experimentation, as well as repair.

Carpenter, Kenneth G.↗