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NASA NTRSDate not supplied

SIBatt-3D: In-Space/On-Surface 3D Printing of Sodium Ion Batteries from ISRU Materials

Constructed more than 20 years ago, the International Space Station’s primary power system originally used nickel-hydrogen batteries with a lifetime of 6.5 years, until NASA began the process of replacing them in 2016 with lithium-ion batteries with a lifetime of 10 years. The demanding and costly process was accomplished after four flights of the Japanese H-II Transfer Vehicle cargo spacecraft (with a cost of about $10,000 per pound of payload), and 13 different astronauts conducting 14 spacewalks. Besides utilization in the ISS, rechargeable batteries are present in many space applications: they are installed in exploration robots, life support systems and in portable communication devices, to mention some. In this context, this project is focused on the in-space manufacturing of shape-conformable batteries using in-situ resources, and aims to address the NASA’s gaps related to the development of next generation of energy storage devices (TX03), as well as in-space manufacturing and in-situ resource utilization (TX07). The proposed work also tackles the HEOMD’s objectives targeting the in-space additive manufacturing (AM) from Lunar/Martian materials (regolith as AM feedstock) to reinvigorate America’s Human Space Exploration Program (SPD-1). This project is in direct alignment with the STMD’s objectives to demonstrate in-space autonomous manufacturing and assembly of complete systems by 2030, and to enable humans to live and explore in space and on planetary surfaces by 2040 thanks to in-space habitation, infrastructure development and in-situ resource utilization (ST1 and ST5). Manufacturing of shape conformable batteries directly in-space and using in-situ resources would also contribute to reducing the payload weight and volume (TX12) for future missions, thus reducing risk for long term Mars missions where rapid resupply is logistically infeasible. Nowadays, commercial batteries consist of stacked two-dimensional (2D) sheets, which are only manufactured in restricted geometries (cylindrical and coin cell). Evolving from conventional 2D, complex 3D battery architectures have been proven to increase the electrochemical active surface area and ion diffusion path, leading to improved areal energy density and power performance. This tendency was illustrated in our recent in-depth modeling studies by simulating a classical Ragone plot exhibiting the energy-power relationship. Our team demonstrated through modeling that a complex gyroidal 3D printed battery architecture exhibits significantly improved power performances (>150% at the current density of 6C; full discharge in 10 minutes) in comparison to a traditional 3D printed planar geometry. Motivated by these results and as the fabrication of intricate 3D battery design is only possible experimentally thanks to the geometric freedom offered by additive manufacturing (AM), our team has already initiated leveraging thermoplastic material extrusion at the laboratory scale. While 3D printing of batteries is relatively recent (2013), it has witnessed a growing interest during the last recent years, as next-generation shape-conformable 3D batteries can be co-designed with the system. Consequently, dead-volume and mass brought from Earth are minimized, in addition to improved battery performance, in alignment with the aforementioned NASA’s objectives. Further, while this project is specifically dedicated to batteries, it lends itself towards the maturation of in-space manufacturing via 3D printing using in-situ resources, stated in HEOMD and STMD goals.

In-Space Manufacturing↗

DOE OSTI2021

Advanced Electron Microscopy of Nanophased Synthetic Polymers and Soft Complexes for Energy and Medicine Applications

After decades of developments, electron microscopy has become a powerful and irreplaceable tool in understanding the ionic, electrical, mechanical, chemical, and other functional performances of next-generation polymers and soft complexes. The recent progress in electron microscopy of nanostructured polymers and soft assemblies is important for applications in many different fields, including, but not limited to, mesoporous and nanoporous materials, absorbents, membranes, solid electrolytes, battery electrodes, ion- and electron-transporting materials, organic semiconductors, soft robotics, optoelectronic devices, biomass, soft magnetic materials, and pharmaceutical drug design. For synthetic polymers and soft complexes, there are four main characteristics that differentiate them from their inorganic or biomacromolecular counterparts in electron microscopy studies: (1) lower contrast, (2) abundance of light elements, (3) polydispersity or nanomorphological variations, and (4) large changes induced by electron beams. Since 2011, the Center for Nanophase Materials Sciences (CNMS) at Oak Ridge National Laboratory has been working with numerous facility users on nanostructured polymer composites, block copolymers, polymer brushes, conjugated molecules, organic–inorganic hybrid nanomaterials, organic–inorganic interfaces, organic crystals, and other soft complexes. This review crystalizes some of the essential challenges, successes, failures, and techniques during the process in the past ten years. It also presents some outlooks and future expectations on the basis of these works at the intersection of electron microscopy, soft matter, and artificial intelligence. Machine learning is expected to automate and facilitate image processing and information extraction of polymer and soft hybrid nanostructures in aspects such as dose-controlled imaging and structure analysis.

36 MATERIALS SCIENCE↗

NASA NTRS2015

Next Generation Life Support: High Performance EVA Glove

The objectives of the High Performance EVA Glove task are to develop advanced EVA gloves for future human space exploration missions and generate corresponding standards by which progress may be quantitatively assessed. New technologies and manufacturing techniques will be incorporated into the new gloves to address finger and hand mobility, injury reduction and durability in nonpristine environments. Three prototypes will be developed, each focusing on different technological advances. A robotic assist glove will integrate a powered grasping system into the current EVA glove design to reduce astronaut hand fatigue and hand injuries. A mechanical counter pressure (MCP) glove will be developed to further explore the potential of MCP technology and assess its capability for countering the effects of vacuum or low pressure environments on the body by using compression fabrics or materials to apply the necessary pressure. A gas pressurized glove, incorporating new technologies, will be the most flight-like of the three prototypes. Advancements include the development and integration of aerogel insulation, damage sensing components, dust-repellant coatings, and dust tolerant bearings.

Walsh, Sarah K.↗

NASA NTRS2018

Educación Global

The International Space Station has a unique ability to capture the imaginations of both students and teachers worldwide. The presence of humans aboard the station provides a foundation for numerous educational activities aimed at capturing interest and motivating children towards the study of science, technology, engineering and mathematics (STEM). Projects such as the Amateur Radio on International Space Station (ARISS); Earth Knowledge Acquired by Middle School Students (EarthKAM); and Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES) Zero Robotics competition, among others, have allowed for global student, teacher and public access to space through student image acquisition and radio contacts with crew members. Projects like these and their accompanying educational materials are distributed to students around the world. Through the continued use of the station, we will challenge and inspire the next generation of scientists, engineers, writers, artists, politicians and explorers.

Lopez, Erik↗

NASA NTRS2012

Using the ISS as a Testbed to Prepare for the Next Generation of Space-Based Telescopes

The ISS provides a unique opportunity to develop the technologies and operational capabilities necessary to assemble future large space telescopes that may be used to investigate planetary systems around neighboring stars. Assembling telescopes in space is a paradigm-shifting approach to space astronomy. Using the ISS as a testbed will reduce the technical risks of implementing this major scientific facility, such as laser metrology and wavefront sensing and control (WFSC). The Optical Testbed and Integration on ISS eXperiment (OpTIIX) will demonstrate the robotic assembly of major components, including the primary and secondary mirrors, to mechanical tolerances using existing ISS infrastructure, and the alignment of the optical elements to a diffraction-limited optical system in space. Assembling the optical system and removing and replacing components via existing ISS capabilities, such as the Special Purpose Dexterous Manipulator (SPDM) or the ISS flight crew, allows for future experimentation and repair, if necessary. First flight on ISS for OpTIIX, a small 1.5 meter optical telescope, is planned for 2015. In addition to demonstration of key risk-retiring technologies, the OpTIIX program includes a public outreach program to show the broad value of ISS utilization.

Ess, Kim↗

NASA NTRS2000

Propulsion Options For Interstellar Exploration

NASA is considering missions to explore near-interstellar space (40 - 250 Astronomical Units) early in the next decade as the first step toward a vigorous interstellar exploration program. A key enabling technology for such an ambitious science and exploration effort is a propulsion system capable of providing fast trip times, yet which has low enough mass to allow for the use of inexpensive launch vehicles. Advanced propulsion technologies that might support the First interstellar precursor mission by the end of the first decade of the new millennium include solar sails and nuclear electric propulsion. Solar sails and electric propulsion are two technology areas that may hold promise for the next generation of interstellar precursor missions as well - perhaps a thousand astronomical units traveled in a professional lifetime. Future missions to far beyond the Heliosphere will require the development of propulsion technologies that are only at the conceptual stage today. For years, the scientific community has been interested in solar sail and electric propulsion technologies to support robotic exploration of the solar system. Progress in thin-film materials fabrication and handling, and advancement in technologies that may enable the deployment of large sails in space are only now maturing to the point where ambitious interstellar precursor missions using sails can be considered. Xenon ion propulsion is now being demonstrated for planetary exploration by the Deep Space 1 mission. The primary issues for the adaptation of electric propulsion to interstellar precursor applications include the development of low specific mass nuclear power systems, engine lifetime, and high power operation. Recent studies of interstellar precursor mission scenarios that use these propulsion systems will be described, and the range of application of each technology will be explored.

Johnson, Les↗

NASA NTRSDate not supplied

ISS External Microorganisms: A Payload to Close Planetary Protection Knowledge Gaps for Crewed Missions

Before NASA or COSPAR is able to set planetary protection requirements for crewed missions to locations like Mars there are a number of critical knowledge gaps that must be addressed (1). One of the most important knowledge gaps is an understanding of microbial leakage from crewed habitats and space suits. Current ECLSS (Environmental Control and Life Support System) and PLSS (Portable Life Support System) requirements do not include any provisions to control microbes that may escape along with vented or leaked gasses. The current generation of NASA space suits can leak at rates as high as 100 cm2 /min. during nominal operation (2). ISS (International Space Station) intentionally vents atmospheric gases like CO2 to maintain habitable conditions for the crew. Furthermore, every time an airlock is used for EVA (extravehicular activity)there is an accompanying release of internal atmosphere. Since it is not possible to sterilize a crewed mission, it is important that we understand what if any microbes are entrained in these vented and leaked products. It is also important to understand if these microbes can survive on exterior surfaces. Recent sampling of the Russian segments of ISS suggest that bacteria and fungi from inside ISS may be capable of surviving on external surfaces(3). NASA is developing an aseptic sampling tool for use during EVA and plans to collect samples from vents on ISS to build on these results. The results of this work will be used to develop planetary protection requirements for vented and leaked gasses from crewed volumes. NASA has developed and tested a tool kit for collecting microbiological samples during EVA(4). This tool kit contains eight commercially available, 23 mm. diameter, foam swabs that can be used to aseptically collect samples while at vacuum. The swabs are individually housed in aluminum canisters that are equipped with 0.2 μm Teflon filters. These filters allow the canisters to equilibrate to pressure changes while preventing microbiological contamination. The canisters will be cleaned and sterilized before flight. Results from ground-based testing indicate that this tool kit is capable of aseptically collecting microbes while at vacuum without becoming contaminated during pressure changes(5). Based on the results of this ground testing we have modified the tool kit to meet NASA safety requirements and improve the ergonomics. We added additional mounting points to the tool kit to give astronauts more options for securing it during use. We also changed the opening mechanism to improve the precision with which swabs can be extracted from the tool kit. We plan to use this kit on an upcoming EVA to collect samples from non-propulsive vents and areas near the U.S. airlock on ISS. These samples will be frozen at -80 ̊C and stored on station until they can be returned to Earth. We will analyze these returned samples using next generation DNA sequencing to determine the community composition and function of external ISS environments. The results of this study will close planetary protection knowledge gaps for crewed missions and will help NASA determine appropriate planetary protection requirements for life support systems. The tool kit will also be useful for collecting aseptic samples on upcoming crewed or robotic missions and could easily be modified to collect samples with organic contamination control requirements as well.

A B Regberg↗

NASA NTRSDate not supplied

ISS External Microorganisms: A Payload to Close Planetary Protection Knowledge Gaps for Crewed Missions

A B Regberg↗

NASA NTRS2016

Design and Analysis of Map Relative Localization for Access to Hazardous Landing Sites on Mars

Human and robotic planetary lander missions require accurate surface relative position knowledge to land near science targets or next to pre-deployed assets. In the absence of GPS, accurate position estimates can be obtained by automatically matching sensor data collected during descent to an on-board map. The Lander Vision System (LVS) that is being developed for Mars landing applications generates landmark matches in descent imagery and combines these with inertial data to estimate vehicle position, velocity and attitude. This paper describes recent LVS design work focused on making the map relative localization algorithms robust to challenging environmental conditions like bland terrain, appearance differences between the map and image and initial input state errors. Improved results are shown using data from a recent LVS field test campaign. This paper also fills a gap in analysis to date by assessing the performance of the LVS with data sets containing significant vertical motion including a complete data set from the Mars Science Laboratory mission, a Mars landing simulation, and field test data taken over multiple altitudes above the same scene. Accurate and robust performance is achieved for all data sets indicating that vertical motion does not play a significant role in position estimation performance.

Lander Vision System↗

NASA NTRS2014

TPSAS-NF1676L-18913-DND

Composite materials and structures are enabling technology for modern aerospace vehicles. Numerical-control manufacturing, including automated fiber placement (AFP), is widely used to fabricate these components. However, weight and performance requirements for the next generation of aerospace vehicles will push the state-of-art even further, and require development of more advanced materials, manufacturing, and structures technologies that are both affordable and efficient. The Integrated Structural Assembly of Advanced Composites (ISAAC) system is intended to address much of NASA?s critical research needs in advanced composites. The baseline ISAAC system, combining a commercial robot with multiple redundant degrees of freedom, a tool changer interface, and a special-purpose AFP end effector, enables precise and accurate additive manufacturing of composite structures, as well as development of advanced tow-steered structures with tailored load paths. The highly capable baseline system can quickly change end effectors, thus enabling further research for composites manufacturing. This extended system is similar to a high-speed machining center, where interchangeable cutters are used for different operations during metal structures fabrication. This capability enables future development, integration and assessment of new advanced manufacturing technologies, such as in-situ curing and NDE, and through-thickness reinforcements to reduce delaminations. End effectors with these advanced capabilities may be purchased, developed internally or with industry or academia, and then integrated onto the existing robotic platform to perform advanced manufacturing operations and develop new techniques and processes. Technologies, techniques and processes developed using this research-oriented system could then be transitioned to the broader composites industry.

Rob Martin↗

DOE OSTI2019

Augmented Reality for Managing Nuclear Infrastructure and Operations - 19605

Emerging augmented reality tools offer great promise for helping manage nuclear infrastructure throughout its life cycle. These tools have the ability to provide operators with actionable holographic information as they work. Perhaps more excitingly these tools also feature sensors that provide the ability to document work at very high spatial resolution. These sensors include onboard cameras as well as active infrared sensors that can capture 3D geometry information on-the-fly. Coupling the visualization and sensing tools provided by augmented reality headsets with computational intelligence opens up many exciting new possibilities for managing nuclear infrastructure throughout its life cycle. In this presentation we show a number of examples of how augmented reality tools can be incorporated into the management of nuclear infrastructure. We show examples of using augmented reality as a human-machine interface for robotic control, and we show examples of augmented reality being interfaced with external sensors. Finally, we show how these sensing and visualization capabilities of augmented reality can be interfaced with intelligent algorithms to help operators perform their work in nuclear facilities. The goal of the work is to spark discussions on how emerging augmented reality tools can help enable the next generation of efficient, high-performance nuclear infrastructure. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2014

Inspiring the Next Generation: The International Space Station Education Accomplishments

The International Space Station (ISS) has a unique ability to capture the imagination of both students and teachers worldwide. Since 2000, the presence of humans onboard ISS has provided a foundation for numerous educational activities aimed at capturing that interest and motivating study in the sciences, technology, engineering and mathematics (STEM). Over 43 million students around the world have participated in ISS-related educational activities. Projects such as YouTube Space Lab, Sally Ride Earth Knowledge-based Acquired by Middle Schools (EarthKAM), SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) Zero-Robotics, Tomatosphere, and MAI-75 events among others have allowed for global student, teacher and public access to space through student classroom investigations and real-time audio and video contacts with crewmembers. Educational activities are not limited to STEM but encompass all aspects of the human condition. This is well illustrated in the Uchu Renshi project, a chain poem initiated by an astronaut while in space and continued and completed by people on Earth. With ISS operations now extended to 2024, projects like these and their accompanying educational materials are available to more students around the world. From very early on in the program's history, students have been provided with a unique opportunity to get involved and participate in science and engineering projects. Many of these projects support inquiry-based learning that allows students to ask questions, develop hypothesis-derived experiments, obtain supporting evidence and identify solutions or explanations. This approach to learning is well-published as one of the most effective ways to inspire students to pursue careers in scientific and technology fields. Ever since the first space station element was launched, a wide range of student experiments and educational activities have been performed, both individually and collaboratively, by all the international partner agencies, National Aeronautics and Space Administration (NASA), Canadian Space Agency (CSA), European Space Agency, (ESA), Japan Aerospace Exploration Agency (JAXA) and Russian Federal Space Agency (Roscosmos), and a number of non-participating countries, some under commercial agreements. Many of these programs still continue, and others are being developed and added to the stations tasks on a regular basis. These diverse student experiments and programs fall into one of the following categories: student-developed experiments; students performing classroom versions of ISS experiments; students participating in ISS investigator experiments; education competitions; students participating in ISS Engineering Education; Education Demonstrations and Cultural Activities. This paper summarizes some of the main student experiments and educational activities that have been conducted on the space station.

Alleyne, Camille W.↗

DOE OSTI2019

Savannah River Site H-Canyon Tunnel Inspection Lidar Mapping Solution - 19477

Over the summer of 2018, the Savannah River National Laboratory (SRNL) formed and hosted a robotics and sensor intern team and tasked them with developing a proof of concept for a modular sensor suite to be deployed in the next H-Canyon Air Exhaust (HCAEX) Tunnel inspection in spring 2019. The developed sensor suite includes a planar Lidar sensor for depth imaging, two Panospheric 4K cameras, and an inertial measurement unit to aid in base localization. The Lidar is actuated to rotate about the vertical axis, which allows for the team to gather 3D mapping data. These rotating planar scans can also be fused with the camera and IMU data to generate colorized internal maps of the tunnel. The supporting software was developed iteratively over the summer and leveraged prior research conducted at the University of Texas at Austin, which facilitated the stitching of Lidar scans, the fusion of the sensor data, and even algorithms to provide in-situ navigation feedback to the operators of the crawler. This software simultaneously represents huge leaps forward in the mapping and degradation measurement abilities of the crawler over past inspection units, while also allowing the operator much greater situational awareness. The improvement in awareness reduces risks of the robot becoming stuck or disabled inside the tunnel, which would jeopardize the success of both this and future inspections. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRSDate not supplied

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↗

NASA NTRS2018

NASA Additive Manufacturing Initiatives for Deep Space Human Exploration

Additive Manufacturing (AM) is being infused into aerospace industries at an accelerated pace. Reasons for this rapid adoption include: (1) Innovation Capability e.g. design features such as topology optimization, integrated fluid passages, and mesh structures; (2) Rapid Development and Optimization - ability to quickly iterate the design, development, and test cycle; (3) Affordability - reductions in part counts, cost, and schedule. NASA's Marshall Space Flight Center (MSFC) has taken a leadership role in application of AM technologies for deep space human exploration, leading the Agency's In Space Manufacturing (ISM) initiative and the application of AM for a broad variety of space propulsion systems. MSFC has championed the development of ISM capabilities since our first reduced-gravity aircraft experiment flew in 1999. Partnering with Made In Space, MSFC placed the first 3D Printer on ISS in 2014 and the second generation printer, the Additive Manufacturing Facility, in 2016. The next ISS technology demonstration will be the Refabricator, a recycler/basic printer scheduled to launch in late Fall 2018. Ground-based development is progressing in common use materials, metals 3D printing, printed electronics, and the new cornerstone of ISM, the FabLab. The latest developments in each area will be described. An overview of NASA's In Space Robotic Manufacturing and Assembly (IRMA) ground-based risk reduction projects will also be presented. MSFC has aggressively incorporated AM capabilities for design and development of space propulsion components. The capabilities have been rapidly matured and extensively exercised to produce and hot-fire test the Additive Manufacturing Demonstrator Engine, an in-space class prototype engine. This experience base has been extended to support Aerojet Rocketdyne in the application of AM to the RS-25, the Space Launch System Core Stage engine, and to small propulsion systems and thrusters for small satellites and cubesats. The latest developments will be described. In responding to a request from NASA's Commercial Crew Program for a consistent methodology for evaluation of AM processes and parts, MSFC began development of a draft standard for AM space flight hardware in late 2014. The draft was broadly disseminated for comments in mid-2015, and subsequently revised into two documents, a standard and a specification for AM space flight hardware, which were formally released by MSFC in October 2017. An overview of the key elements of these documents will be presented.

Clinton, Raymond↗

NASA NTRS2020

State of the Profession Considerations: NASA Langley Research Center Capabilities / Technologies for Autonomous In-Space Assembly and Modular Persistent Assets

Successfully implementing OSAM into next generation revolutionary observatories requires integrating expertise and technologies in modular space structures, assembly operations, autonomy, and modeling/simulation. LaRC OSAM technologies/capabilities have been presented to inform the Planetary Science and Astrobiology Decadal Survey community of the robust and mature existing capability to support an OSAM based architecture for their next observatory. LaRC Structures and Assembly capabilities enable; a modular telescope architecture, high-performance structural modules, and robotic assembly techniques. LaRC Autonomy capabilities ensure that the robotic assembly will be accomplished in a safe and robust manner and only require humans in a supervisory role. The LaRC toolbox of Modeling and Simulation capabilities that is calibrated using module-level ground testing, will ensure that the performance of the fully assembled observatory, a very large zero-g system that will never be assembled/tested in a gravity environment, meets all performance requirements when it enters into service. Integrating all three LaRC capabilities and including embedded metrology, will enable servicing, repair, instrument upgrades (and/or replacement) while ensuring a very long lifetime for the observatory and providing a return-on-investment that is substantially greater than the initial cost. Further confidence will be achieved as OSAM technologies are validated in a new LaRC OSAM laboratory that allows large-scale collaborative testing of modular hardware, simulation software and algorithms, and autonomous agents.

Large space structures↗

NASA NTRS2014

TPSAS-NF1676L-19134-DND

Composite materials and structures are state-of-art enabling technology for modern aerospace vehicles, reducing weight and maintenance requirements, and increasing performance and reliability. Numerical-control manufacturing systems, including automated fiber placement (AFP), are widely used to fabricate these components. However, the challenging weight and performance requirements necessary for the next generation of aerospace vehicles will push the composites state-of-art even further, and require development of even more advanced materials, manufacturing, and structures technologies that are more affordable and more efficient. The Integrated Structural Assembly of Advanced Composites (ISAAC) system is intended to address many of NASA's critical research needs in the field of advanced composites. The baseline ISAAC system, combining a commercial robot with multiple degrees of freedom, a tool changer interface, and a special-purpose AFP end effector, will enable very precise and accurate additive manufacturing of composite structures. One promising area of research enabled by the ISAAC system is advanced composite tow-steered structures that have tailored structural load paths. Several examples are presented that describe these tow-steered composite structures in more detail.

Brian K Stewart↗

NASA NTRS1990

Self-calibration of robot-sensor system

The process of finding the coordinate transformation between a robot and an external sensor system has been addressed. This calibration is equivalent to solving a nonlinear optimization problem for the parameters that characterize the transformation. A two-step procedure is herein proposed for solving the problem. The first step involves finding a nominal solution that is a good approximation of the final solution. A varational problem is then generated to replace the original problem in the next step. With the assumption that the variational parameters are small compared to unity, the problem that can be more readily solved with relatively small computation effort.

Yeh, Pen-Shu↗