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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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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

2023 SAGE-Camp Report

The 7 th Summer Physics Camp for Young Women was successfully held in person in 2023 from June 5 th to 16 th at the New Mexico School for the Arts in Santa Fe, NM at Hilo Intermediate School in Hawaii. This year’s camp was dedicated to the topic of Energy Security and was made possible thanks to the strong collaboration of Los Alamos, Sandia and Hawaii teams and the logistical and financial support of Los Alamos and Sandia National Laboratories, New Mexico Consortium, SAGE- Moore Foundation, LANL Foundation, ACS, IEE, APS four corners, N3B, Hawaii Museum of Science and Technology, New Mexico School for the Arts (NMSA) and Tech Source. The camp mobilized more than 120 volunteers who made the camp a success. The camp is free of charge to the students and included free lunch and snacks for the busy brains to have plenty of energy, also included all materials needed for the hands-on activities (like drone building, crystal structure, solar panels, wind turbine fabrication, soldering, coding etc) and also a stipend for students who attended for the full two weeks and for two educators and two student mentors in NM. The camp offered 32 high school students from New Mexico and 8 from Hawaii a unique opportunity to explore science topics and meet a broad range of role model professionals across STEM fields including astrophysics, cybersecurity, Energy fields, space science, engineering, biophysics, environmental science, robotics, computer science, nuclear engineering, radiological science, physics and chemistry. With nearly 120 volunteers who came mainly from Los Alamos National Laboratory (66%) and Sandia national laboratories (18%), two funded educators from NM, Dr. Weldon Beauchamp and Dr. Ellee Cook, and two educators from Hilo, Dr. Pascale Creek Pinner and LeAnn Ragasa, the camp was educationally sound and extremely varied. The collaboration with school educators is critical for the goal of this camp to not only impact students' lives but also improve STEM education in NM and Hawaii. The ultimate goal of the camp is to increase higher education aspirations of students, empower them to consider careers in STEM and learn more about the opportunities available to them in our local colleges and DOE National Laboratories. In addition, the camp also hired 2 past students as student mentors, Megan Odom and Elisea Jackson, who currently attend NMSA and were students at the camp in 2022 when it was virtual. The in-person camp which aims at empowering under-represented minorities in STEM in our community received more than 52 applications this year from all over NM and 8 applications from Hawaii. Our selection criteria are based on diversity, equity and inclusion, and students for whom the camp can be a life-changing opportunity are given a chance to attend the camp. During COVID, the camp was held virtually and gave the opportunity to students from remote areas in NM and Hawaii to attend from their homes. This year, fantastic families supported students everyday even when home was in remote areas in NM like Lea county, Sandoval county, Bernalillo or Mora county. The organizers hope next year they can offer a residential option for students from remote areas.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS1981

Data acquisition and analysis of range-finding systems for spacing construction

For space missions of future, completely autonomous robotic machines will be required to free astronauts from routine chores of equipment maintenance, servicing of faulty systems, etc. and to extend human capabilities in hazardous environments full of cosmic and other harmful radiations. In places of high radiation and uncontrollable ambient illuminations, T.V. camera based vision systems cannot work effectively. However, a vision system utilizing directly measured range information with a time of flight laser rangefinder, can successfully operate under these environments. Such a system will be independent of proper illumination conditions and the interfering effects of intense radiation of all kinds will be eliminated by the tuned input of the laser instrument. Processing the range data according to certain decision, stochastic estimation and heuristic schemes, the laser based vision system will recognize known objects and thus provide sufficient information to the robot's control system which can develop strategies for various objectives.

Shen, C. N.↗
NASA NTRS1983

Sensor Control of Robot Arc Welding

The potential for using computer vision as sensory feedback for robot gas-tungsten arc welding is investigated. The basic parameters that must be controlled while directing the movement of an arc welding torch are defined. The actions of a human welder are examined to aid in determining the sensory information that would permit a robot to make reproducible high strength welds. Special constraints imposed by both robot hardware and software are considered. Several sensory modalities that would potentially improve weld quality are examined. Special emphasis is directed to the use of computer vision for controlling gas-tungsten arc welding. Vendors of available automated seam tracking arc welding systems and of computer vision systems are surveyed. An assessment is made of the state of the art and the problems that must be solved in order to apply computer vision to robot controlled arc welding on the Space Shuttle Main Engine.

Sias, F. R., Jr.↗
NASA NTRS1985

Automation and robotics - Key to productivity

The automated and robotic systems requirements of the NASA Space Station are prompted by maintenance, repair, servicing and assembly requirements. Trend analyses, fault diagnoses, and subsystem status assessments for the Station's electrical power, guidance, navigation, control, data management and environmental control subsystems will be undertaken by cybernetic expert systems; this will reduce or eliminate on-board or ground facility activities that would otherwise be essential, enhancing system productivity. Additional capabilities may also be obtained through the incorporation of even a limited amount of artificial intelligence in the controllers of the various Space Station systems.

Cohen, A.↗
NASA NTRS1985

Application of intelligent robotic welding systems for fabrication of aerospace hardware

The application of robots to complex on-orbit tasks will require a high degree of adaptability. This paper describes a project which is developing very adaptive robotic systems for welding of the Space Shuttle main engine. A number of the developments which will arise from this program will serve as useful starting points for more advanced systems to be used on-orbit.

Jones, C. S.↗
NASA NTRS1987

Human-telerobot interactions - Information, control, and mental models

A part of the NASA's Space Station will be a teleoperated robot (telerobot) with arms for grasping and manipulation, feet for holding onto objects, and television cameras for visual feedback. The objective of the work described in this paper is to develop the requirements and specifications for the user-telerobot interface and to determine through research and testing that the interface results in efficient system operation. The focus of the development of the user-telerobot interface is on the information required by the user, the user inputs, and the design of the control workstation. Closely related to both the information required by the user and the user's control of the telerobot is the user's mental model of the relationship between the control inputs and the telerobot's actions.

Smith, Randy L.↗
NASA NTRS1990

Learning-based position control of a closed-kinematic chain robot end-effector

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Nguyen, Charles C.↗
NASA NTRS1989

Human pathway to the solar system in the 21st century

Some proposed space exploration missions are examined. Consideration is given to requirements for human expeditions to Phobos and Mars and for establishing a lunar observatory and a permanent, self-sufficient facility on Mars. Earth-to-orbit transportation, propellant management, extraterrestrial construction and operations, life support technology, space transfer systems, and automation and robotics are examined in terms of proposed missions.

O'Handley, Douglas A.↗
NASA NTRS1990

Return to the moon - The Lunar Observer mission

The Lunar Observer mission seeks to understand the moon in its global context. Motivation for this project comes from scientific interest and the need for robotic precursor missions in the proposed Space Exploration Initiative. The multiple roles to be performed by this mission mean that the trajectory design process promises to be quite complex and unique. The choice of launch vehicle, launch opportunity and daily launch window are affected by the selection of the translunar transfer trajectory, as well as the arrival conditions desired at lunar orbit insertion. The length of the mission and the tight lunar orbit control requirements determine the design of the circumlunar portions of the Lunar Observer mission.

Cook, Richard A.↗
NASA NTRS1991

Quick-Connect Truss Fastener

Quick-connect fastener actuated by simple motion of hexagonal wrench. Enables assembly of truss by heavily gloved technician or by robot. Originally designed for use by Astronaut or robot assembling a truss in outer space, fastener also adapts to various connection applications requiring quick assembly or disassembly.

Sheridan, Philip L.↗
NASA NTRS1991

Nuclear rocket propulsion. NASA plans and progress, FY 1991

NASA has initiated planning for a technology development project for nuclear rocket propulsion systems for space explorer initiative (SEI) human and robotic missions to the moon and Mars. An interagency project is underway that includes the Department of Energy National Laboratories for nuclear technology development. The activities of the project planning team in FY 1990 and 1991 are summarized. The progress to date is discussed, and the project plan is reviewed. Critical technology issues were identified and include: (1) nuclear fuel temperature, life, and reliability; (2) nuclear system ground test; (3) safety; (4) autonomous system operation and health monitoring; and (5) minimum mass and high specific impulse.

Clark, John S.↗
NASA NTRS1990

Head-coupled remote stereoscopic camera system for telepresence applications

The Virtual Environment Workstation Project (VIEW) at NASA's Ames Research Center has developed a remotely controlled stereoscopic camera system that can be used for telepresence research and as a tool to develop and evaluate configurations for head-coupled visual systems associated with space station telerobots and remore manipulation robotic arms. The prototype camera system consists of two lightweight CCD video cameras mounted on a computer controlled platform that provides real-time pan, tilt, and roll control of the camera system in coordination with head position transmitted from the user. This paper provides an overall system description focused on the design and implementation of the camera and platform hardware configuration and the development of control software. Results of preliminary performance evaluations are reported with emphasis on engineering and mechanical design issues and discussion of related psychophysiological effects and objectives.

Bolas, M. T.↗
NASA NTRS1991

Enabling the space exploration initiative: NASA's exploration technology program in space power

Space power requirements for Space Exploration Initiative (SEI) are reviewed, including the results of a NASA 90-day study and reports by the National Research Council, the American Institute of Aeronautics and Astronautics (AIAA), NASA, the Advisory Committee on the Future of the U.S. Space Program, and the Synthesis Group. The space power requirements for the SEI robotic missions, lunar spacecraft, Mars spacecraft, and human missions are summarized. Planning for exploration technology is addressed, including photovoltaic, chemical and thermal energy conversion; high-capacity power; power and thermal management for the surface, Earth-orbiting platform and spacecraft; laser power beaming; and mobile surface systems.

Bennett, Gary L.↗
NASA NTRS1992

Mars exploration advances: Missions to Mars - Mars base

An overview is presented of Mars missions and related planning with attention given to four mission architectures in the light of significant limitations. Planned unpiloted missions are discussed including the Mars Orbital Mapping Mission, the Mars Rover Sample Return, the Mars Aeronomy Orbiter, and the Mars Environmental Survey. General features relevant to the missions are mentioned including launch opportunities, manned-mission phases, and propulsion options. The four mission architectures are set forth and are made up of: (1) the Mars-exploration infrastructures; (2) science emphasis for the moon and Mars; (3) the moon to stay and Mars exploration; and (4) space resource utilization. The possibility of robotic missions to the moon and Mars is touched upon and are concluded to be possible by the end of the century. The ramifications of a Mars base are discussed with specific reference to habitability and base activities, and the human missions are shown to require a heavy-lift launcher and either chemical/aerobrake or nuclear-thermal propulsion system.

Dejarnette, Fred R.↗
NASA NTRS1991

Experiments with simplified computed-torque controllers for free-flying robots

The effect of neglecting base accelerations in an inertial space endpoint computed-torque (CT) controller is examined. Numerical simulations predict a rather wide set of conditions under which CT controllers can neglect base accelerations in their dynamic model with insignificant performance degradation. Two predictions are experimentally verified with a laboratory robot. These two experiments show that negligible additional endpoint controller error results with a simplified CT controller for the given robot mass parameters and manipulator articulation.

Koningstein, R.↗
NASA NTRS1992

Early Track NEP system options for SEI missions

A development option for nuclear electric propulsion, the 'Early Track' option, is considered from system and mission application viewpoints. The intent of this development option is to address demanding missions of the future, such as robotic outer planet exploration or the Space Exploration Initiative. The 'Early Track' scheme utilizes existing technologies, such as the SP-100 space reactor and radiator components, as well as subsystems scalable from existing programs, such as 50 to 100 kWe ion thrusters. Up to 1.5 MWe of powder can be generated by the existing 2.4 MWt SP-100 reactor through the use of dynamic Rankine or Brayton power conversion. The performance characteristics of these systems are projected, and assessed for SEI missions currently under consideration.

Gilland, J. H.↗
NASA NTRS1991

Nuclear rocket propulsion: NASA plans and progress - FY 1991

NASA has initiated planning for a technology development project for nuclear rocket propulsion systems for space exploration initiative (SEI) human and robotic missions to the Moon and to Mars. An interagency project is underway that includes the Department of Energy National Laboratories for nuclear technology development. The activities of the project planning team in FY 1990 and 1991 are summarized. The progress to date is discussed, and the project plan is reviewed. Critical technology issues were identified and include: (1) nuclear fuel temperature, life, and reliability; (2) nuclear system ground test; (3) safety; (4) autonomous system operation and health monitoring; and (5) minimum mass and high specific impulse.

Clark, John S.↗
NASA NTRS1992

Recursive formulation of operational space control

A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms that compute the operational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n-link serial manipulator. These algorithms enable an O(n) recursive implementation of operational space control.

Kreutz-Delgado, K.↗