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NASA NTRS2003

Robonaut: a robot designed to work with humans in space

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Man-Machine Systems↗

NASA NTRS2012

Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.

terrain anomaly↗

NASA NTRS1990

A control architecture for a Mars walking vehicle

A design framework for a Mars Rover, intended for missions where a high degree of autonomy is dictated, is presented. The framework provides a logical computing architecture for rover mobility and local navigation subsystem design by defining a set of functional modules and interfaces to facilitate software and hardware specification. The similarities and dissimilarities between the present approach and related architectures for autonomous navigation and robotic control are discussed. An approach is presented for specifying actions to be taken by the mobility and local navigation subsystems of the rover.

Spiessbach, Andrew J.↗

NASA NTRS2012

The Asteroid Frontier

There are many ways of studying the Asteroid Frontier as a scientist. In my career, I have used large telescopes atop a 14,000 ft mountain top observatory in Hawaii, used the Hubble Space Telescope in orbit around the Earth, traveled to Antarctica to collect meteorites sitting on the ice waiting for them to be recovered by scientists for scientific investigation, walked the desert with 50 students from University of Khartoum searching for fragments of an asteroid that collided with earth, exploded in the upper atmosphere and rained fragments on the desert floor. Most recently, I have looked at one of the largest Main Belt Asteroids named (4) Vesta through the eyes of a robotic spacecraft named Dawn, exploring the asteroid frontier. I will share my adventures, place the thrill of scientific exploration through NASA's solar system exploration program in context and provide opportunities for students to engage in NASA's exciting missions to expand scientific understanding of Earth and the Universe in which we live

Mcfadden, Lucyann A.↗

NASA NTRS2012

ATHLETE: A Limbed Vehicle for Solar System Exploration

As part of the Human-Robot Systems project funded by NASA, the Jet Propulsion Laboratory has developed a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb.

Space Robotics↗

NASA NTRS2015

NASAs Evolvable Mars Campaign: Mars Moons Robotic Precursor

Human exploration missions to the moons of Mars are being considered within NASA's Evolvable Mars Campaign (EMC) as an intermediate step for eventual human exploration and pioneering of the surface of Mars. A range of mission architectures is being evaluated in which human crews would explore one or both moons for as little as 14 days or for as long as 500 days with a variety of orbital and surface habitation and mobility options being considered. Relatively little is known about the orbital, surface, or subsurface characteristics of either moon. This makes them interesting but challenging destinations for human exploration missions during which crewmembers must be able to effectively conduct scientific exploration without being exposed to undue risks due to radiation, dust, micrometeoroids, or other hazards. A robotic precursor mission to one or both moons will be required to provide data necessary for the design and operation of subsequent human systems and for the identification and prioritization of scientific exploration objectives. This paper identifies and discusses considerations for the design of such a precursor mission based on current human mission architectures. Objectives of a Mars' moon precursor in support of human missions are expected to include: 1) identifying hazards on the surface and the orbital environment at up to 50-km distant retrograde orbits; 2) collecting data on physical characteristics for planning of detailed human proximity and surface operations; 3) performing remote sensing and in situ science investigations to refine and focus future human scientific activities; and 4) prospecting for in situ resource utilization. These precursor objectives can be met through a combination or remote sensing (orbital) and in-situ (surface) measurements. Analysis of spacecraft downlink signals using radio science techniques would measure the moon's mass, mass distribution, and gravity field, which will be necessary to enable trajectory planning. Laser altimetry would precisely measure the moon's shape and improve the accuracy of radio science measurements. A telescopic imaging camera would map the moon at submeter resolution and photograph selected areas of interest at subcentimeter resolution and a visible and near-infrared (0.4-3.0 mm) imaging spectrograph would produce a global map of mineral composition variations at a resolution of tens of meters and maps of selected areas of interest at meter resolution. Additional remote sensing capabilities could include a thermal infrared imager (heat flow, thermal inertia, and grain size distributions), a gamma-ray and neutron detector (atomic composition), a ground-penetrating radar (internal structure), and a magnetometer and Langmuir probe (magnetic properties and plasma field). Once on the surface of Phobos or Deimos, necessary instrumentation would include a penetrometer (regolith compressive strength), a motion-imagery camera (to observe the penetrometer tests before, during, and after contact), a dust-adhesion witness plate and camera (dust levitation), a microimager (dust particle sizes and shapes), and an alpha-proton-X-ray, X-ray fluorescence, Mossbauer, or Raman spectrometer (atomic and mineral composition of surface materials) and an optional temperature probe (regolith thermal properties). A variety of robotic mission design options to enable both orbital and surface measurements are being considered that include fully integrated and modular approaches. In-situ measurements from at least one surface location would be required, with additional measurement locations possible through use of multiple landers, through propulsive relocation of a single lander, or through electromechanical surface translation by a walking or hopping lander vehicle, which could also serve to evaluate such mobility capabilities for subsequent human missions. Preliminary orbital analysis suggests that remote sensing would likely be performed while in a distant retrograde orbit around the target moon. Mission design options to enable characterization of both Mars’ moons in a single mission are also being studied.

Gernhardt, Michael L.↗

NASA NTRS2010

ATHLETE: Lunar Cargo Handling for International Lunar Exploration

As part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over greater than 1 m rocks, tool use, etc.

International Collaboration in Space↗

NASA NTRS2011

Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

robotics↗

NASA NTRS1994

Dante's Volcano

This video contains two segments: one a 0:01:50 spot and the other a 0:08:21 feature. Dante 2, an eight-legged walking machine, is shown during field trials as it explores the inner depths of an active volcano at Mount Spurr, Alaska. A NASA sponsored team at Carnegie Mellon University built Dante to withstand earth's harshest conditions, to deliver a science payload to the interior of a volcano, and to report on its journey to the floor of a volcano. Remotely controlled from 80-miles away, the robot explored the inner depths of the volcano and information from onboard video cameras and sensors was relayed via satellite to scientists in Anchorage. There, using a computer generated image, controllers tracked the robot's movement. Ultimately the robot team hopes to apply the technology to future planetary missions.

Source record↗

NASA NTRS2012

Benefits of a Single-Person Spacecraft for Weightless Operations

Historically, less than 20 percent of crew time related to extravehicular activity (EVA) is spent on productive external work.1 A single-person spacecraft with 90 percent efficiency provides productive new capabilities for maintaining the International Space Station (ISS), exploring asteroids, and servicing telescopes or satellites. With suits, going outside to inspect, service or repair a spacecraft is time-consuming, requiring pre-breathe time, donning a fitted space suit, and pumping down an airlock. For ISS, this is between 12.5 and 16 hours for each EVA, not including translation and work-site set up. The work is physically demanding requiring a day of rest between EVAs and often results in suit-induced trauma with frequent injury to astronauts fingers2. For maximum mobility, suits use a low pressure, pure oxygen atmosphere. This represents a fire hazard and requires pre-breathing to reduce the risk of decompression sickness (bends). With virtually no gravity, humans exploring asteroids cannot use legs for walking. The Manned Maneuvering Unit offers a propulsive alternative however it is no longer in NASA s flight inventory. FlexCraft is a single person spacecraft operating at the same cabin atmosphere as its host so there is no risk of the bends and no pre-breathing. This allows rapid, any-time access to space for repeated short or long EVAs by different astronauts. Integrated propulsion eliminates hand-over-hand translation or having another crew member operate the robotic arm. The one-size-fits-all FlexCraft interior eliminates the suit part inventory and crew time required to fit all astronauts. With a shirtsleeve cockpit, conventional displays and controls are used and because the work is not strenuous no rest days are required. Furthermore, there is no need for hand tools because manipulators are equipped with force multiplying end-effectors that can deliver the precise torque for the job.

Griffin, Brand N.↗

NASA NTRS2011

ATHLETE: A Cargo-Handling Vehicle for Solar System Exploration

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions. Architectural studies have indicated that one useful role for ATHLETE in planetary (moon or Mars) exploration is to "walk" cargo off the payload deck of a lander and transport it across the surface. Recent architectural approaches are focused on the concept that the lander descent stage will use liquid hydrogen as a propellant. This is the highest performance chemical fuel, but it requires very large tanks. A natural geometry for the lander is to have a single throttleable rocket engine on the centerline at the bottom, and to have the propellant tanks arranged as compactly as possible around and above that engine, with nearly-straight structural load paths that carry the heavy LO2 tanks as well as the ascent stage or cargo on a top deck. (The requirement for exactly one descent engine stems from the need to avoid symmetry planes in the exhaust plume that can entrain surface particles and loft them up into the system at hypervelocity.) This geometry is especially attractive since abort considerations drive the ascent stage to have as much open space around it as possible, in case the ascent stage needs to fire away from an out-of-control descent stage. These considerations lead to a configuration where the cargo deck of the lander is relatively high off the ground (over 6 meters in current concepts, using a 10-meter diameter launch shroud). These considerations have led some observers to presume that there is a "lander offloading problem". ATHLETE has been demonstrated as a solution to this problem, walking cargo off the high deck. This paper describes the applicability of the ATHLETE concept to exploration of the moon, Mars and even to Near- Earth Objects. Recent field test results for long-range traverse are described, along with plans for testing in the simulated microgravity environment of a NEO.

Space Robotics↗

NASA NTRSDate not supplied

Interoperable Services to Mitigate Lunar Position, Navigation, and Timing Challenges

Across the Earth, both civilian and government endeavors enjoy a built-in reliance on a position, navigation, and timing (PNT) infrastructure to which they are largely blind. Whether walking, driving, flying, or orbiting, Earth-centric PNT systems that have evolved over decades provide a core functionality to which we have grown accustomed for these pursuits. As NASA joins with other government space agencies and commercial partners to return humans to the Moon in a sustained manner within the current decade, expectations for PNT knowledge and timeliness at the Moon rival those on Earth. The need exists to develop a viable lunar-centric PNT infrastructure to support the planned human and robotic exploits. Navigating within the influence of the Moon presents its own set of challenges. Identification, understanding, and use of a unified reference frame and time system on which navigation is based becomes a fundamental need at the Moon. In addition to the unified foundational elements, measurement liability, dynamic conditions that require Earth-independent autonomous operations, and standards for PNT signals and message-based data exchange each represent distinct challenges to navigation in a burgeoning operational lunar environment. The PNT services planned as part of the lunar communications and navigation relay architecture known as LunaNet aid in surmounting the challenges. LunaNet interoperability specifications stipulate standards for signal parameters, messages, and lunar reference systems for PNT services. Within LunaNet’s defined interoperability resides the concept of a Reference Signal to provide communication signals specifically structured to enable measurement of pseudorange, Doppler, and time transfer by the recipient. One such signal type, the Augmented Forward Signal (AFS), functions as the mainstay for LunaNet PNT, while also serving the data needs for ubiquitous broadcast of network access and rapid unscheduled dissemination of alerts and messages. The presence of a geometrically distributed network of orbiting nodes transmitting the AFS forms the basis for the Lunar Augmented Navigation System (LANS), that delivers both radio navigation and data to multiple users in the lunar environment simultaneously. After reviewing the challenges associated with lunar navigation, this paper will describe the concepts and rationale behind the LunaNet PNT services. By borrowing techniques from Earth-centric Global Navigation Satellite Services (GNSS), the Tracking and Data Relay Satellite System, and the Consultative Committee for Space Data Standards, PNT from LunaNet aids to overcome challenges faced for accurate lunar navigation.

LunaNet↗

NASA NTRSDate not supplied

Interoperable Services to Mitigate Lunar Position, Navigation, and Timing Challenges

Navigation↗

NASA NTRS2007

Evolution of the Space Station Robotic Manipulator

The Space Station Remote Manipulator System (SSRMS), Canadarm2, was launched in 2001 and deployed on the International Space Station (ISS). The Canadarm2 has been instrumental in ISS assembly and maintenance. Canadarm2 shares its heritage with the Space Shuttle Arm (Canadarm). This article explores the evolution from the Shuttle Canadarm to the Space Station Canadarm2 design, which incorporates a 7 degree of freedom design, larger joints, and changeable operating base. This article also addresses phased design, redundancy, life and maintainability requirements. The design of Canadarm2 meets unique ISS requirements, including expanded handling capability and the ability to be maintained on orbit. The size of ISS necessitated a mobile manipulator, resulting in the unique capability of Canadarm2 to relocate by performing a walk off to base points located along the Station, and interchanging the tip and base of the manipulator. This provides the manipulator with reach and access to a large part of the Station, enabling on-orbit assembly of the Station and providing support to Extra-Vehicular Activity (EVA). Canadarm2 is evolving based on on-orbit operational experience and new functionality requirements. SSRMS functionality is being developed in phases to support evolving ISS assembly and operation as modules are added and the Station becomes more complex. Changes to sustaining software, hardware architecture, and operations have significantly enhanced SSRMS capability to support ISS mission requirements. As a result of operational experience, SSRMS changes have been implemented for Degraded Joint Operations, Force Moment Sensor Thermal Protection, Enabling Ground Controlled Operations, and Software Commutation. Planned Canadarm2 design modifications include: Force Moment Accommodation, Smart Safing, Separate Safing, and Hot Backup. In summary, Canadarm2 continues to evolve in support of new ISS requirements and improved operations. It is a tribute to the design that this evolution can be accomplished while conducting critical on-orbit operations with minimal hardware changes.

Razvi, Shakeel↗

NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗

NASA NTRS1993

The first lunar outpost: The design reference mission and a new era in lunar science

The content of the First Lunar Outpost (FLO) Design Reference Mission has been formulated and a 'strawman' science program has been established. The mission consists of two independent launches using heavy lift vehicles that land directly on the lunar surface. A habitat module and support systems are flown to the Moon first. After confirmation of a successful deployment of the habitat systems, the crewed lunar lander is launched and piloted to within easy walking distance (2 km) of the habitat. By eliminating the Apollo style lunar orbit rendezvous, landing sites at very high latitudes can be considered. A surface rover and the science experiments will accompany the crew. The planned stay time is 45 days, two lunar days and one night. A payload of 3.3 metric tons will support a series of geophysics, geology, astronomy, space physics, resource utilization, and life science experiments. Sample return is 150 to 200 kg. The rover is unpressurized and can carry four astronauts or two astronauts and 500 kg of payload. The rover can also operate in robotic mode with the addition of a robotics package. The science and engineering experiment strategy is built around a representative set of place holder experiments.

Lofgren, Gary E.↗

NASA NTRS2000

STS-101 Crew Activity Report Flight Day 02 Highlights

The primary mission objective for STS-101 was to deliver supplies to the International Space Station, perform a space walk, and reboost the station from 230 statute miles to 250 statute miles. The commander of this mission was, James D. Haslsell. The crew was Scott J. Horowitz, the pilot, and mission specialists Mary Ellen Weber, Jeffrey N. Williams, James S. Voss, Susan J. Helms, and Yuri Vladimirovich Usachev. This videotape shows the activities of the second day of the flight. On this day the shuttle crew checked the equipment in preparation for rendezvous with the International Space Station. This video shows the astronauts entering the SpaceHab, where the supplies bound for the space station are stored. There are also views of the robotic arm, which will be used during the spacewalk to maneuver Williams and Voss between Atlantis and the station.

Source record↗

NASA NTRS1989

Extracting text from real-world scenes

Many scenes contain significant textual information that can be extremely helpful for understanding and/or navigation. For example, text-based information can frequently be the primary cure used for navigating inside buildings. A subject might first read a marquee, then look for an appropriate hallway and walk along reading door signs and nameplates until the destination is found. Optical character recognition has been studied extensively in recent years, but has been applied almost exclusively to printed documents. As these techniques improve it becomes reasonable to ask whether they can be applied to an arbitrary scene in an attempt to extract text-based information. Before an automated system can be expected to navigate by reading signs, however, the text must first be segmented from the rest of the scene. This paper discusses the feasibility of extracting text from an arbitrary scene and using that information to guide the navigation of a mobile robot. Considered are some simple techniques for first locating text components and then tracking the individual characters to form words and phrases. Results for some sample images are also presented.

Bixler, J. Patrick↗