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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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At least 1,369 records · Page 76

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NASA NTRS1985

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

Source record↗

NASA NTRS2011

In-Space Propulsion Engine Architecture Based on Sublimation of Planetary Resources: From Exploration Robots to NED Mitigation

The purpose of this NIAC study is to identify those volatile and mineral resources that are available on asteroids, comets, moons and planets in the solar system, and investigate methods to transform these resources into forms of power that will expand the capabilities of future robotic and human exploration missions to explore planetary bodies beyond the Moon and will mitigate hazards from NEOs. The sources of power used for deep space probe missions are usually derived from either solar panels for electrical energy, radioisotope thermal generators for thermal energy, or fuel cells and chemical reactions for chemical energy and propulsion.

Sibille, Laurent↗

NASA NTRS2004

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

multi-robot systems↗

NASA NTRS2003

Transformational Concepts and Technologies For the Exploration and Development of Space

The performance and cost of available systems and technologies limit the programmatic prospects for the U.S. and the international community to achieve ambitious goals and objectives in future human and robotic exploration and development of space. Innovative applications of emerging technologies and new systems concepts are vital to enabling future space systems and architectures. This paper will discuss new technologies and their application to transformational systems concepts in space utilities and power, space infrastructure, transportation and exploration.

Howell, Joe T.↗

NASA NTRS2010

NASA's International Lunar Network Anchor Nodes and Robotic Lunar Lander Project Update

NASA Marshall Space Flight Center and The Johns Hopkins University Applied Physics Laboratory have been conducting mission studies and performing risk reduction activities for NASA's robotic lunar lander flight projects. Additional mission studies have been conducted to support other objectives of the lunar science and exploration community and extensive risk reduction design and testing has been performed to advance the design of the lander system and reduce development risk for flight projects.

Cohen, Barbara A.↗

NASA NTRS2005

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

Foor, David C.↗

NASA NTRS1994

Space flight manipulator technologies and requirements for the NASA Flight Telerobotic Servicer (FTS)

NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.

Chladek, John T.↗

NASA NTRS1986

The use of computer graphic simulation in the development of robotic systems

This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems. Use of this technology will result in greatly improved systems and reduced development costs. The major design issues in developing effective robotic systems are discussed and the use of ROBOSIM, a NASA developed simulation tool, to address these issues is presented. Three representative simulation case studies are reviewed: off-line programming of the robotic welding development cell for the Space Shuttle Main Engine (SSME); the integration of a sensor to control the robot used for removing the Thermal Protection System (TPS) from the Solid Rocket Booster (SRB); and the development of a teleoperator/robot mechanism for the Orbital Maneuvering Vehicle (OMV).

Fernandez, K.↗

NASA NTRS1987

The use of computer graphic simulation in the development of robotic systems

Fernandez, Ken↗

NASA NTRS2021

Standard Materials and Processes Requirements for Spacecraft

This NASA Technical Standard is directed toward materials and processes (M&P) used in the design, fabrication, and testing of space program flight hardware for NASA, including but not limited to crewed, uncrewed, robotic, launch vehicle, lander, in-space and surface systems, and spacecraft program/project hardware elements. All spaceflight hardware is covered by the M&P requirements of this document, including vendor-designed, off-the-shelf, and vendor-furnished items. M&P used in interfacing ground support equipment (GSE), test equipment, hardware processing equipment, hardware packaging, and hardware shipment is covered by the M&P requirements of this NASA Technical Standard only to the extent required to prevent damage to or contamination of spaceflight hardware (see section 4). M&P used in NASA aircraft and aircraft operations are not covered by the M&P requirements of this document.

Materials↗

NASA NTRS2011

In-Space Propulsion Engine Architecture Based on Sublimation of Planetary Resources: From Exploration Robots to NED Mitigation

Volatile solids occur naturally on most planetary bodies including the Moon, Mars, asteroids and comets. Examples of recent discoveries include water ice, frozen carbon dioxide and hydrocarbons. The ability to utilize readily available resources for in-space propulsion and for powering surface systems during a planetary mission will help minimize the overall cost and extend the op.erational life of a mission. The utilization of volatile solids to achieve these goals is attractive for its simplicity. We have investigated the potential of subliming in situ volatiles and silicate minerals to power propulsion engines for a wide range of in-space applications where environmental conditions are favorable. This paper addresses the' practicality of using planetary solid volatiles as a power source for propulsion and surface systems by presenting results of modeling involving thermodynamic and physical mechanics calculations, and laboratory testing to measure the thrust obtained from ,a volatile solid engine (VSE). Applications of a VSE for planetary exploration are discussed as a means for propulsion and for mechanical actuators and surface mobility platforms.

Sibille, Laurent↗

NASA NTRSDate not supplied

Robotic Manipulation Testbeds with HPSC

Interoperability and scalability of robotic manipulators will be key to develop and sustain a lunar surface and cislunar ecosystem. From in-space servicing, assembly, and manufacturing (ISAM) to logistics, maintenance, and science operations, robotic manipulation is a critical NASA capability need and the demand for high-performance spaceflight computing will only rise as robotic tasks become more autonomous. With increased complexity, testbeds for research, feasibility studies, and technology demonstrations will be essential. The Dexterous Robotics Team at NASA Johnson Space Center has established multiple robotic manipulation testbeds taking a supervised autonomous remote operations approach and plans to infuse High-Performance Spaceflight Computing (HPSC) to emulate the flight environment and close the gap between space technology development and flight operations.

Alex Sowell↗

NASA NTRS1988

Design guidelines for robotically serviceable hardware

Research being conducted at the Goddard Space Flight Center into the development of guidelines for the design of robotically serviceable spaceflight hardware is described. A mock-up was built based on an existing spaceflight system demonstrating how these guidelines can be applied to actual hardware. The report examines the basic servicing philosophy being studied and how this philosophy is reflected in the formulation of design guidelines for robotic servicing. A description of the mock-up is presented with emphasis on the design features that make it robot friendly. Three robotic servicing schemes fulfilling the design guidelines were developed for the mock-up. These servicing schemes are examined as to how their implementation was affected by the constraints of the spacecraft system on which the mock-up is based.

Gordon, Scott A.↗

NASA NTRS1992

ROMPS critical design review data package

The design elements of the Robot-Operated Material Processing in Space (ROMPS) system are described in outline and graphical form. The following subsystems/topics are addressed: servo system, testbed and simulation results, System V Controller, robot module, furnace module, SCL experiment supervisor and script sample processing control, battery system, watchdog timers, mechanical/thermal considerations, and fault conditions and recovery.

Dobbs, M. E.↗

NASA NTRS2006

Supervising Remote Humanoids Across Intermediate Time Delay

The President's Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling humanoids under intermediate time delay is presented. This approach uses software running within a ground control cockpit to predict an immersed robot supervisor's motions which the remote humanoid autonomously executes. Initial results are presented.

Hambuchen, Kimberly↗

NASA NTRS1992

ROMPS critical design review. Volume 1: Hardware

Topics concerning the Robot-Operated Material Processing in Space (ROMPS) Program are presented in viewgraph form and include the following: a systems overview; servocontrol and servomechanisms; testbed and simulation results; system V controller; robot module; furnace module; SCL experiment supervisor; SCL script sample processing control; SCL experiment supervisor fault handling; block diagrams; hitchhiker interfaces; battery systems; watchdog timers; mechanical/thermal systems; and fault conditions and recovery.

Dobbs, M. E.↗

NASA NTRS2006

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits with minimal impact on IVA operators and ground controllers, the Mini AERCam system architecture incorporates intelligent systems attributes that support various autonomous capabilities. 1) A robust command sequencer enables task-level command scripting. Command scripting is employed for operations such as automatic inspection scans over a region of interest, and operator-hands-off automated docking. 2) A system manager built on the same expert-system software as the command sequencer provides detection and smart-response capability for potential system-level anomalies, like loss of communications between the Free Flyer and control station. 3) An AERCam dynamics manager provides nominal and off-nominal management of guidance, navigation, and control (GN&C) functions. It is employed for safe trajectory monitoring, contingency maneuvering, and related roles. This paper will describe these architectural components of Mini AERCam autonomy, as well as the interaction of these elements with a human operator during supervised autonomous control.

Fredrickson, Steven E.↗

NASA NTRS1994

Terrain modelling and motion planning for an autonomous exploration rover

To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.

Richard, F.↗