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At least 163 records · Page 9

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Farrell, Logan C.↗

SPHERES: Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites: SPHERES/Astrobee Working Group (SAWG)

SPHERES/Astrobee Working Group (SAWG) Quarterly meeting. Membership includes MIT, FIT, AFS, DARPA, CASIS, SJSU, and NASA (HQ, KSC, JSC, MSFC, and ARC)Face-to-Face, twice a year Purpose: Information sharing across the SPHERES community Program office shares National Lab Facility availability Status of resources (batteries, CO2 tanks, etc.), Overall Calendar (scheduled Test Sessions, up mass return), and Updates on new PD, Investigations, and ISS infrastructure. Provide the SPHERES community (PD, investigators, etc.) with up-to-date information to determine opportunities to use the NL Facility Discuss proposed changes updates to SPHERES Nat Lab which may be required to support a specific activity or research. Discuss specific support requests made to the ISS Office.

Benavides, Jose↗

Flight Dynamics and GN&C for Spacecraft Servicing Missions

Future human exploration missions and commercial opportunities will be enabled through In-space assembly and satellite servicing. Several recent efforts have developed technologies and capabilities to support these exciting future missions, including advances in flight dynamics and Guidance, Navigation and Control. The Space Shuttle has demonstrated significant capabilities for crewed servicing of the Hubble Space Telescope (HST) and assembly of the International Space Station (ISS). Following the Columbia disaster NASA made significant progress in developing a robotic mission to service the HST. The DARPA Orbital Express mission demonstrated automated rendezvous and capture, In-space propellant transfer, and commodity replacement. This paper will provide a summary of the recent technology developments and lessons learned, and provide a focus for potential future missions.

Naasz, Bo↗

SPHERES: Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites

SPHERES/Astrobee Working Group (SAWG) Quarterly meeting. Membership includes MIT, FIT, AFS, DARPA, CASIS, SJSU, and NASA (HQ, KSC, JSC, MSFC, and ARC) Face-to-Face, twice a year. The purpose is information sharing across the SPHERES community. Program office shares National Lab facility availability. Status of resources (batteries, CO2 tanks, etc.), overall calendar (scheduled Test Sessions, upmass return), and updates on new PD, investigations, and ISS infrastructure. Provide the SPHERES community (PD, investigators, etc.) with up-to-date information to determine opportunities to use the National Lab facility. Discuss proposed changes and updates to SPHERES National Lab which may be required to support a specific activity or research. Discuss specific support requests made to the ISS Office.

SPHERES satellites↗

Overview of the Millimeter-Wave Thermal Launch System (MTLS) Project

In 2012, DARPA challenged the authors to launch a small thermal rocket into the air using millimeter waves. The resulting 2-year program, the Millimeter-Wave Thermal Launch System (MTLS), has been executed by NASA Ames Research Center and involves partnerships with General Atomics DIII-D Tokamak, the Air Force Research Laboratory, and the Army High Energy Laser Systems Test Facility (HELSTF). We define the MTLS program, describe its challenges, and outline its achievements

Parkin, Kevin Lewis↗

Humanoids and the Potential Role of Electroactive Materials/Mechanisms in Advancing Their Capability

Humanoids are increasingly becoming capable biologically inspired robots that are appearing and behaving lifelike. Making humanlike robots is the ultimate challenge to biomimetics and, while for many years they were considered a science fiction, such robots are increasingly becoming engineering reality. Progress in producing such robots are allowing them to perform impressive functions and tasks. In 2012, in an effort to promote significant advances in developing humanoids, DARPA (Defense Advanced Research Projects Agency) posed a Robotic Challenge to produce such robots that operate in disaster scenarios towards making society more resilient. The challenge was focused on the requirements that have been needed after the Fukushima accident in Japan, hoping to advance the field of disaster robotics. This disaster posed significant challenges to emergency responders since radiation prevented people from going into the station and venting the explosive gas. Another significant development in this field is the fact that major US corporations have entered into the race to produce commercial humanoids. As a result, one can expect significant and rapid progress in this field. Developing humanoids is critically dependent of the use of highly efficient, compact, lightweight actuators and electroactive materials are offering great potential. This paper reviews the state-of-theart of humanlike robots, potential applications and challenges, as well as the actuation materials that are used or could be used.

Electroactive Polymer Actuators↗

SPHERES/Astrobee Working Group (SAWG) Quarterly Meeting

SPHERES Astrobee Working Group (SAWG) Quarterly meeting. Membership includes MIT, FIT, AFS, DARPA, CASIS, SJSU, and NASA (HQ, KSC, JSC, MSFC, and ARC). Face-to-Face, twice a year Purpose: Information sharing across the SPHERES community. Program office shares National Lab Facility availability. Status of resources (batteries, CO2 tanks, etc.), Overall Calendar (scheduled Test Sessions, upmassreturn), and Updates on new PD, Investigations, and ISS infrastructure. Provide the SPHERES community (PD, investigators, etc.) with up-to-date information to determine opportunities to use the NL Facility. Discuss proposed changes updates to SPHERES Nat Lab which may be required to support a specific activity or research. Discuss specific support requests made to the ISS Office

Benavides, Jose V.↗

Humanoids and the Potential Role of Electroactive Materials/Mechanisms in Advancing Their Capability

Humanoids are increasingly becoming capable biologically inspired robots that are appearing and behaving lifelike. Making humanlike robots is the ultimate challenge to biomimetics and, while for many years they were considered a science fiction, such robots are increasingly becoming engineering reality. Progress in producing such robots are allowing them to perform impressive functions and tasks. In 2012, in an effort to promote significant advances in developing humanoids, DARPA posed a Robotic Challenge to produce such robots that operate in disaster scenarios towards making society more resilient. The challenge was focused on the requirements that have been needed after the Fukushima accident in Japan, hoping to advance the field of disaster robotics. This disaster posed significant challenges to emergency responders since radiation prevented people from going into the station and venting the explosive gas. Another significant development in this field is the fact that major US corporations have entered into the race to produce commercial humanoids. As a result, one can expect significant and rapid progress in this field. Developing humanoids is critically dependent of the use of highly efficient, compact, lightweight actuators and electroactive materials are offering great potential. This paper reviews the state-of-theart of humanlike robots, potential applications and challenges, as well as the actuation materials that are used or could be used.

Electroactive Polymer Actuators↗

QWIPs, SLS, Landsat and the International Space Station

In 1988 DARPA provided funding to NASA’s Goddard Space Flight Center to support the development of GaAs Quantum Well Infrared Photodetectors (QWIP). The goal was to make a single element photodetector that might be expandable to a two-dimensional array format. Ultimately, this led to the development of a 128 x 128 element array in collaboration with AT&T Bell Labs and Rockwell Science Center in 1990. We continued to develop numerous generations of QWIP arrays most recently resulting in the multi-QWIP focal plane for the NASA-US Geological Survey (USGS) Landsat 8 mission launched in 2013 and a similar instrument on the Landsat 9 mission to be launched in 2020. Toward the end of the Landsat 8 QWIP-based Thermal Infrared Sensor (TIRS) instrument the potential of the newly developed Strained Layer Superlattice (SLS) detector array technology became of great interest to NASA for three primary reasons: 1) higher operating temperature; 2) broad spectral response and; 3) higher sensitivity. We have collaborated extensively with QmagiQ, LLC and Northwestern University to further pursue and advance the SLS technology ever since we started back in 2012. In December of 2018 we launched the first SLS-based IR camera system to the International Space Station on board the Robotic Refueling Mission #3 (RRM3). This paper will describe the evolution of QWIP technology leading to the current development of SLS-based imaging systems at the Goddard Space Flight Center over the past 30 years.

Jhabvala, M.↗

SPHERES Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites: SPHERES Working Group (SWG) Quarterly Meeting

SPHERES Working Group (SWG) Quarterly meeting. Membership includes MIT, FIT, AFS, DARPA, CASIS, SJSU, and NASA (HQ, KSC, JSC, MSFC, and ARC). Face-to-Face, twice a year. Next Face-to-Face will be scheduled in Feb. 2017 at NASA Ames. Purpose: Information sharing across the SPHERES community. Program office shares National Lab Facility availability. Status of resources (batteries, CO2 tanks, etc.), Overall Calendar (scheduled Test Sessions, upmassreturn), and Updates on new PD, Investigations, and ISS infrastructure.Provide the SPHERES community (PD, investigators, etc.) with up-to-date information to determine opportunities to use the NL Facility. Discuss proposed changes updates to SPHERES Nat Lab which may be required to support a specific activity or research. Discuss specific support requests made to the ISS Office.

Jose V Benavides↗

Value Proposition, Strategic Framework, and Capability Needs for In-Space Assembly

The Space Science and Technology (S&T) Partnership Forum was established in 2015 to identify synergistic efforts and technologies across the government, with a focus on key pervasive and game-changing technologies across government space agencies in order to more efficiently and effectively manage S&T resources. As principal partners of the interagency S&T Partnership Forum, the U.S. Air Force (USAF), the National Aeronautics and Space Administration (NASA), and the National Reconnaissance Office (NRO) identified and prioritized several S&T collaboration topic areas. Autonomous and semi-autonomous in-space assembly (iSA) is the focus of the topic area that NASA, under the direction of the Office of Chief Technologist, is currently coordinating among the S&T principal partners and affiliate partners, such as the Defense Advanced Research Projects Agency (DARPA) and the U.S. Naval Research Laboratory (NRL). The S&T iSA facilitation and analysis team, led by NASA, collected data from the participating agencies on their current developments, activities, and needs in the area of in-space assembly. This paper provides an overview of the S&T iSA facilitation and analysis team’s efforts in establishing the value proposition and strategic framework for interagency collaboration in iSA within the partnership as a foundation to deliver value and achieve iSA topic objectives across government space agencies. Further, this paper describes the early products of these efforts in the definition of the iSA capabilities, design drivers, and stakeholder goals to facilitate dialogue within the partnership and the larger community.

Phillip A Williams↗

Navigation Filter Design Best Practices

Onboard navigation and attitude estimation systems are at the heart of almost all of NASA’s missions, either on launch vehicles, robotic science spacecraft, or on crewed human exploration vehicles. Best practices for attitude estimation systems/filters are scattered throughout open literature, however, even within NASA there has been no previous attempt to codify this knowledge into a readily available design handbook. Without such a document, it is possible for isolated practitioners to lack understanding and appreciation of many tried and true approaches to successful and robust filter design and the implied cost/benefit trades associated with them. To aid designers of current and future missions, a handbook of navigation filter best practices has been developed and is introduced here. The development of this document is also an outgrowth of a recommendation made in an NESC summary of lessons learned from the DARPA Orbital Express mission to utilize best practices for rendezvous navigation filter design. With this handbook, future designers have a reference that establishes NASA’s best practices.

Navigation↗

Towards Resilient Autonomous Navigation of Drones

Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.

Agha-mohammadi, Ali-akbar↗

The Sun Radio Interferometer Space Experiment (SunRISE) Mission

The Sun Radio Interferometer Space Experiment (SunRISE) will provide an entirely new view on particle acceleration and transport in the inner heliosphere by creating the first low radio frequency interferometer in space to localize heliospheric radio emissions. By imaging and determining the location of decametric-hectometric (DH) radio bursts from 0.1 MHz–25 MHz, SunRISE will provide key information on particle acceleration mechanisms associated with coronal mass ejections (CMEs) and the magnetic field topology from active regions into interplanetary space. Six small spacecraft, of a 6U form factor, will fly in a supersynchronous geosynchronous Earth orbit (GEO) orbit within about 10 km of each other, in a passive formation, and image the Sun in a portion of the spectrum that is blocked by the ionosphere and cannot be observed from Earth. Key aspects that enable this mission are that only position knowledge of the spacecraft is required, not active control, and that the architecture involves a modest amount of on-board processing coupled with significant ground-based processing for navigation, position determination, and science operations. Mission-enabling advances in software-defined radios, GPS navigation and timing, and small spacecraft technologies, developed and flown on the DARPA High Frequency Research (DHFR), the Community Initiative for Continuing Earth Radio Occultation (CICERO), and the Mars Cube One (MarCO) missions, have made this mission affordable and low-risk. The SunRISE mission will involve utilizing commercial access to space, in which the SunRISE spacecraft will be carried to their target orbit as a secondary payload in conjunction with a larger host spacecraft intended for GEO.

Neilson, Tim↗

Dynamical Decoupling of Crosstalk on Superconducting Qubit Devices

Current NISQ devices are prone to errors. In order to be used for practical applications or achieve fault-tolerant thresholds, strategies to suppress error rates will be needed to maximize the potential of noisy devices. Dynamical decoupling (DD) is one such strategy for suppressing — or at least alleviating — the effects of decoherence, in which sequences of pulses are applied to qubits to decouple their interaction with the environment. Through experimental runs performed on several Rigetti quantum computing units (QPUs), we first demonstrate that DD is capable of improving coherence times for isolated qubits, as well as suppressing errors caused by the ZZ coupling between pairs of qubits. Extending this framework to cycles containing2-qubit gates, we show that DD can be inserted to decouple qubits from crosstalk occurring during neighboring 2-qubit gates, and demonstrate the efficacy of this procedure on quantum approximate optimization algorithm (QAOA) circuits. We also explore the usage of tailored DD sequences for the suppression of characterized error channels. We are grateful for support from the NASA Ames Research Center and from the DARPA ONISQ program under interagency agreement IAA 8839,Annex 114. HYH is supported by the USRA Feynman QuantumAcademy funded by the NAMS R&D Student Program and a UCHellman Fellowship. JS, ZGI and ZW are supported by USRA NASAAcademic Mission Service (NNA16BD14C).

Dynamical decoupling↗

Space Nuclear Propulsion for Deep Space Science Missions

The use of nuclear thermal propulsion (NTP) 1 and nuclear electric propulsion (NEP) 2 systems on deep space science missions to the outer planets and into the interstellar medium 3 can yield significant spacecraft system and mission performance benefits and improvements relative to the use of conventional chemical propulsion systems. Several recent and ongoing programs are developing the technologies and systems required to realize a near-term deep space nuclear propulsion capability. NTP provides improved propulsion efficiencies compared to chemical propulsion, while also providing substantial thrust. This combination of high thrust and increased specific impulse (I_sp) provides high acceleration and extended thrusting periods, enabling greatly reduced trip-times on certain types of missions compared to various propulsive alternatives. For examples, compared to a baseline mission using chemical propulsion, NTP-powered missions to Jupiter or Uranus could deliver approximately 2.4-3.6 times more payload (in the case of Jupiter, the payload delivery is significantly larger than the Juno spacecraft). In this comparison, the higher end of the payload advantage is obtained when the trip time is held equal for the NTP-powered vehicle and a vehicle using a chemical propulsion departure stage. NTP systems are presently under development by multiple government agencies. NASA’s Space Nuclear Propulsion (SNP) project aims to demonstrate a hydrogen-fed NTP engine at 900 s specific impulse (I_sp) and approximately 10-15 klb_f of thrust. DARPA’s Demonstration Rocket for Agile Cislunar Operations (DRACO) program is targeting a demonstration of an NTP system in the cislunar space between the Earth and the Moon. An appropriately phased development plan that applies the development of the reactor technology for an NTP engine in this performance class and leverages mature, existing liquid rocket component hardware provides a path to a lower cost propulsion system that can be realized on a shorter development schedule. NEP, with high Isp in the 2,000-8,000 s range, can also provide advantages over chemical propulsion, including a much greater payload delivery mass and the flexibility for planners to trade between delivered mass and a wider window of mission trajectory options. Electric propulsion (EP) systems have demonstrated great utility, performing notably on the Dawn mission to enable rendezvous and orbital insertion at two separate bodies, Vesta and Ceres. An NEP-powered vehicle would have a similar capability to visit multiple bodies, loitering at each before moving to the next. A 10 kW_e NEP system provides a power- rich environment on the spacecraft that is simply not possible using present radioisotope power systems, giving mission planners more scientific instrument and communication hardware options. Several programs and projects are presently developing NEP systems and subsystems in the 10 kW_e power range, leveraging past reactor work and recent nuclear power generation risk-reduction demonstration activities such as the Demonstration Using Flattop Fission (DUFF) and the Kilopower Reactor Using Stirling TechnologY (KRUSTY). The goal of the Air Force Research Laboratory’s Joint Energy Technology Supplying On-Orbit Nuclear Power (JETSON) program is an in-space demonstration vehicle that has a 10 kW_e -class fission power source. These past and present efforts can be combined with the ongoing development of 10 kW_e -class electric propulsion systems (notably the NEXT-C ion thruster or the Hall-effect thrusters for Power and Propulsion Element of the Lunar Gateway) to provide a pathway to a low-cost, reliable NEP system for deep space science application.

Kurt A. Polzin↗

Space Nuclear Propulsion for Deep Space Science Missions

The use of nuclear thermal propulsion (NTP) 1 and nuclear electric propulsion (NEP) 2 systems on deep space science missions to the outer planets and into the interstellar medium 3 can yield significant spacecraft system and mission performance benefits and improvements relative to the use of conventional chemical propulsion systems. Several recent and ongoing programs are developing the technologies and systems required to realize a near-term deep space nuclear propulsion capability. NTP provides improved propulsion efficiencies compared to chemical propulsion, while also providing substantial thrust. This combination of high thrust and increased specific impulse (I_sp) provides high acceleration and extended thrusting periods, enabling greatly reduced trip-times on certain types of missions compared to various propulsive alternatives. For examples, compared to a baseline mission using chemical propulsion, NTP-powered missions to Jupiter or Uranus could deliver approximately 2.4-3.6 times more payload (in the case of Jupiter, the payload delivery is significantly larger than the Juno spacecraft). In this comparison, the higher end of the payload advantage is obtained when the trip time is held equal for the NTP-powered vehicle and a vehicle using a chemical propulsion departure stage. NTP systems are presently under development by multiple government agencies. NASA’s Space Nuclear Propulsion (SNP) project aims to demonstrate a hydrogen-fed NTP engine at 900 s specific impulse (I_sp) and approximately 10-15 klb_f of thrust. DARPA’s Demonstration Rocket for Agile Cislunar Operations (DRACO) program is targeting a demonstration of an NTP system in the cislunar space between the Earth and the Moon. An appropriately phased development plan that applies the development of the reactor technology for an NTP engine in this performance class and leverages mature, existing liquid rocket component hardware provides a path to a lower cost propulsion system that can be realized on a shorter development schedule. NEP, with high Isp in the 2,000-8,000 s range, can also provide advantages over chemical propulsion, including a much greater payload delivery mass and the flexibility for planners to trade between delivered mass and a wider window of mission trajectory options. Electric propulsion (EP) systems have demonstrated great utility, performing notably on the Dawn mission to enable rendezvous and orbital insertion at two separate bodies, Vesta and Ceres. An NEP-powered vehicle would have a similar capability to visit multiple bodies, loitering at each before moving to the next. A 10 kW_e NEP system provides a power- rich environment on the spacecraft that is simply not possible using present radioisotope power systems, giving mission planners more scientific instrument and communication hardware options. Several programs and projects are presently developing NEP systems and subsystems in the 10 kW_e power range, leveraging past reactor work and recent nuclear power generation risk-reduction demonstration activities such as the Demonstration Using Flattop Fission (DUFF) and the Kilopower Reactor Using Stirling TechnologY (KRUSTY). The goal of the Air Force Research Laboratory’s Joint Energy Technology Supplying On-Orbit Nuclear Power (JETSON) program is an in-space demonstration vehicle that has a 10 kW_e -class fission power source. These past and present efforts can be combined with the ongoing development of 10 kW_e -class electric propulsion systems (notably the NEXT-C ion thruster or the Hall-effect thrusters for Power and Propulsion Element of the Lunar Gateway) to provide a pathway to a low-cost, reliable NEP system for deep space science application.

Kurt A. Polzin↗

Homogeneity Study of ZrC, NbC, and TaC Binary Carbide Fuels for the Application of Nuclear Thermal Propulsion

In alignment with NASA and DARPA goals, efforts towards Nuclear Thermal Propulsion (NTP) have increased in recent years. As progress is made, a main challenge still exists; the fuel in an NTP system must survive the extreme environment experienced during operating conditions. Three fuel forms have been studied including a ceramic-metallic matrix, a ceramic-ceramic matrix, and solid solution carbides. Solid solution carbides were studied previously as a fuel for NTP and was shown to be a promising technology; however, the programs were canceled before demonstration in an NTP engine test. Of the refractory metal carbides of interest, zirconium carbide (ZrC), niobium carbide (NbC) and tantalum carbide (TaC) were studied. ZrC, NbC, and TaC powders were consolidated in monocarbide (ZrC, NbC, TaC) and bi-carbide (ZrC-NbC, ZrC-TaC, NbC-TaC) forms using spark plasma sintering (SPS), with 50-50 mol% compositions of the bi-carbides of interest. The time and temperature conditions to achieve a completely homogeneous solid solution for the mixed carbides is of interest for NTP fuel applications, since this homogeneity is considered to be essential for this fuel form. Homogeneity is typically not achieved during sintering, as surface diffusion (predominant for sintering to near ideal density) tends to occur at lower temperatures than bulk volumetric diffusion (required for solute interdiffusion to achieve a homogeneous solid solution). High temperature isochronal annealing was performed to identify the conditions to achieve a chemically homogeneous sample. The solute interpenetration vs annealing temperature was quantified using energy dispersion spectroscopy (EDS) in a scanning electron microscope (SEM). X-ray diffraction (XRD) was used to accurately measure the phase stability and lattice parameter as a function of annealing conditions. The diffusion data from each sample was then used to determine self-diffusion coefficients for interdiffusion of the Nb, Zr, and Ta solutes and compared to existing literature values. The minimum annealing conditions to achieve complete chemical homogeneity for each carbide was determined.

nuclear thermal propulsion↗