SEARCH · Engineering Papers

Results for “Robots”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,423 records · Page 79

All sources NASA NTRS DOE OSTI

NASA NTRS2006

NASA's Lunar Robotic Program

Before returning humans to the Moon for mankind s seventh lunar landing, NASA will embark upon a series of robotic missions with International partnership, executed within the construct of an integrated program, designed specifically to prepare the way for this further human exploration. The Lunar Precursors Robotic Exploration Program (LPRP) will acquire knowledge about the moon and its environment, as well as to develop operational experience and infrastructure, all needed to bring about sustained human exploration in the lunar environment. This paper presents an overview of the program in its early stages, a review of the currently planned missions, highlights of several of the program s important features and objectives, and a discussion of the challenges faced as we move forward to prepare for a return of people to the Moon.

McGrath, Melissa A.↗

NASA NTRS2006

Space Robotics: AWIMR an Overview

This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.

Wagner, Rick↗

NASA NTRS2006

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

LeMaster, Edward A.↗

NASA NTRS1993

Sensor tip for a robotic gripper and method of manufacture

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Lorenz, Robert D.↗

NASA NTRS1992

Stereo optical guidance system for control of industrial robots

A device for the generation of basic electrical signals which are supplied to a computerized processing complex for the operation of industrial robots. The system includes a stereo mirror arrangement for the projection of views from opposite sides of a visible indicia formed on a workpiece. The views are projected onto independent halves of the retina of a single camera. The camera retina is of the CCD (charge-coupled-device) type and is therefore capable of providing signals in response to the image projected thereupon. These signals are then processed for control of industrial robots or similar devices.

Powell, Bradley W.↗

NASA NTRS1991

Sensor tip for a robotic gripper and method of manufacture

Lorenz, Robert D.↗

NASA NTRS2003

Robotic system

A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

Ambrose, Robert O.↗

NASA NTRS1987

Robot gripper

An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

Webb, Winston S.↗

NASA NTRS1989

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Hayati, Samad A.↗

NASA NTRS2008

The NASA Robotic Conjunction Assessment Process: Overview and Operational Experiences

Orbital debris poses a significant threat to spacecraft health and safety. Recent events such as China's anti-satellite test and the Breeze-M rocket explosion have led to an even greater awareness and concern in the satellite community. Therefore, the National Aeronautics and Space Administration (NASA) has established requirements that routine conjunction assessment screening shall be performed for all maneuverable spacecraft having perigees less than 2000 km or within 200 km of geosynchronous altitude. NASA s Goddard Space Flight Center (GSFC) has developed an operational collision risk assessment process to protect NASA s high-value unmanned (robotic) assets that has been in use since January 2005. This paper provides an overview of the NASA robotic conjunction assessment process, including descriptions of the new tools developed to analyze close approach data and of the risk mitigation strategies employed. In addition, statistical data describing the number of conjunctions experienced are presented. A debris avoidance maneuver performed by Aura in June of 2008 is described in detail to illustrate the process.

Newman, Lauri Kraft↗

NASA NTRS2008

Managing Complexity in Next Generation Robotic Spacecraft: From a Software Perspective

This presentation highlights the challenges in the design of software to support robotic spacecraft. Robotic spacecraft offer a higher degree of autonomy, however currently more capabilities are required, primarily in the software, while providing the same or higher degree of reliability. The complexity of designing such an autonomous system is great, particularly while attempting to address the needs for increased capabilities and high reliability without increased needs for time or money. The efforts to develop programming models for the new hardware and the integration of software architecture are highlighted.

Multi - threaded programming↗

NASA NTRS2008

Microgravity, Mesh-Crawling Legged Robots

The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

Behar, Alberto↗

NASA NTRS2008

Robotics Offer Newfound Surgical Capabilities

Barrett Technology Inc., of Cambridge, Massachusetts, completed three Phase II Small Business Innovation Research (SBIR) contracts with Johnson Space Center, during which the company developed and commercialized three core technologies: a robotic arm, a hand that functions atop the arm, and a motor driver to operate the robotics. Among many industry uses, recently, an adaptation of the arm has been cleared by the U.S. Food and Drug Administration (FDA) for use in a minimally invasive knee surgery procedure, where its precision control makes it ideal for inserting a very small implant.

Source record↗

NASA NTRS2009

Alternative OTEC Scheme for a Submarine Robot

A proposed system for exploiting the ocean thermal gradient to generate power would be based on the thawing-expansion/ freezing-contraction behavior of a wax or perhaps another suitable phase-change material. The power generated by this system would be used to recharge the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and various depths, measuring temperature and salinity. This proposed system would be an alternative to another proposed ocean thermal energy conversion (OTEC) system that would serve the same purpose but would utilize a thermodynamic cycle in which CO2 would be the working fluid. That system is described in Utilizing Ocean Thermal Energy in a Submarine Robot (NPO-43304), immediately following this brief. The main advantage of this proposed system over the one using CO2 is that it could derive a useful amount of energy from a significantly smaller temperature difference. At one phase of its operational cycle, the system now proposed would utilize the surface ocean temperature (which lies between 15 and 20 C over most of the Earth) to melt a wax (e.g., pentadecane) that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the wax. The melting or freezing causes the wax to expand or contract, respectively, by about 8 volume percent.

Jones, Jack↗

NASA NTRS2009

Noble Gas Analysis for Mars Robotic Missions: Evaluating K-Ar Age Dating for Mars Rock Analogs and Martian Shergottites

The purpose of this noble gas investigation was to evaluate the possibility of measuring noble gases in martian rocks and air by future robotic missions such as the Mars Science Laboratory (MSL). The MSL mission has, as part of its payload, the Sample Analysis at Mars (SAM) instrument, which consists of a pyrolysis oven integrated with a GCMS. The MSL SAM instrument has the capability to measure noble gas compositions of martian rocks and atmosphere. Here we suggest the possibility of K-Ar age dating based on noble gas release of martian rocks by conducting laboratory simulation experiments on terrestrial basalts and martian meteorites. We provide requirements for the SAM instrument to obtain adequate noble gas abundances and compositions within the current SAM instrumental operating conditions, especially, a power limit that prevents heating the furnace above approx.1100 C. In addition, Martian meteorite analyses from NASA-JSC will be used as ground truth to evaluate the feasibility of robotic experiments to constrain the ages of martian surface rocks.

Park, J.↗

NASA NTRS2005

Towards the Verification of Human-Robot Teams

Human-Agent collaboration is increasingly important. Not only do high-profile activities such as NASA missions to Mars intend to employ such teams, but our everyday activities involving interaction with computational devices falls into this category. In many of these scenarios, we are expected to trust that the agents will do what we expect and that the agents and humans will work together as expected. But how can we be sure? In this paper, we bring together previous work on the verification of multi-agent systems with work on the modelling of human-agent teamwork. Specifically, we target human-robot teamwork. This paper provides an outline of the way we are using formal verification techniques in order to analyse such collaborative activities. A particular application is the analysis of human-robot teams intended for use in future space exploration.

Fisher, Michael↗

NASA NTRS2001

[Low Fidelity Simulation of a Zero-Y Robot]

The item to be cleared is a low-fidelity software simulation model of a hypothetical freeflying robot designed for use in zero gravity environments. This simulation model works with the HCC simulation system that was developed by Xerox PARC and NASA Ames Research Center. HCC has been previously cleared for distribution. When used with the HCC software, the model computes the location and orientation of the simulated robot over time. Failures (such as a broken motor) can be injected into the simulation to produce simulated behavior corresponding to the failure. Release of this simulation will allow researchers to test their software diagnosis systems by attempting to diagnose the simulated failure from the simulated behavior. This model does not contain any encryption software nor can it perform any control tasks that might be export controlled.

Sweet, Adam↗

NASA NTRS2008

[Presentation of the Lunar Precursor Robotics Program]

The Lunar Precursor Robotics Program (LPRP) is the host program for the Exploration Systems Mission Directorate's (ESMD) lunar robotic precursor missions to the Moon. The program includes two missions, the Lunar Reconnaissance Orbiter (LRO), and the Lunar CRater Observation and Sensing Satellite (LCROSS). Both missions will provide the required lunar information to support development and operations of those systems required for Human lunar return. LPRP is developing a lunar mapping plan, Called the Lunar Mapping and Modeling Project, to create the capability to archive and present all data from LRO, LCROSS, historical lunar missions, and international lunar missions for future mission planning and operations. LPRP is also developing its educational and public outreach activities for the Vision for Space Exploration's first missions. LPRP is working closely with the Science Mission Directorate as their lunar activities come into focus.

Lavoie, Anthony R.↗