SEARCH · Engineering Papers
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Robotic devices that can be utilized on pipes of any material and of a variety of pipe diameters are provided. The robotic device utilizes a ducted fan to create the normal forces needed to adhere to any part of a pipe. The chassis of the device can be segmented to allow for application on various diameter pipes.
The Space Robotics Assembly Team Simulation (SpaceRATS) is an expansive concept that will hopefully lead to a space flight demonstration of a robotic team cooperatively assembling a system from its constitutive parts. A primary objective of the SpaceRATS project is to develop a generalized evolutionary design approach for multiple classes of robots. The portion of the overall SpaceRats program associated with the evolutionary design and simulation of an inspection robot's morphology is the subject of this paper. The vast majority of this effort has concentrated on the use and modification of Darwin2K, a robotic design and simulation software package, to analyze the design of a tube crawling robot. This robot is designed for carrying out inspection duties in relatively inaccessible locations within a liquid rocket engine similar to the SSME. A preliminary design of the tube crawler robot was completed, and the mechanical dynamics of the system were simulated. An evolutionary approach to optimizing a few parameters of the system was utilized, resulting in a more optimum design.
Automated system reduces delays in inspection and rework. System reduces inspection-and-rework delay from days to hours. Path of inspection sensors taken directly from welding path saving time in programming for inspection. Inspection data stored so not lost as inspection equipment turned off. Same robot welding workpiece used to inspect it. In preparation, welding tool mounted on end effector of robot replaced with eddy-current or ultrasonic sensor. Robot recalls welding path from memory and retraces it, recording sensor output as it proceeds.
Small serpentine robot weighs only 6 lbs. and has link diameter of 1.5 in. Designed to perform inspections. Multiple degrees of freedom enables it to reach around obstacles and through small openings into simple or complexly shaped confined spaces to positions where difficult or impossible to perform inspections by other means. Fiber-optic borescope incorporated into robot arm, with inspection tip of borescope located at tip of arm. Borescope both conveys light along robot arm to illuminate scene inspected at tip and conveys image of scene back along robot arm to external imaging equipment.
Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.
The Engineering Directorate of 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 AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion 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 and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.
The University of Bristol's South West Nuclear Hub is part of two large UK academic research collaborations aiming to reduce the costs of nuclear power by trialing innovative solutions to major decommissioning challenges. Robotics and Artificial Intelligence in Nuclear (RAIN) and the National Centre for Nuclear Robotics (NCNR) are the two collaborations tasked by the UK research councils to coordinate this activity, for the benefit of the nuclear industry. This paper presents a summary of Bristol's research aimed at generating and demonstrating a series of technologies ready for commercialization. (authors)
Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
A report describes the tentative design of the avionics of the Mini-AERCam -- a proposed 7.5-in. (approximately 19-cm)-diameter spacecraft that would contain three digital video cameras to be used in visual inspection of the exterior of a larger spacecraft (a space shuttle or the International Space Station). The Mini-AERCam would maneuver by use of its own miniature thrusters under radio control by astronauts inside the larger spacecraft. The design of the Mini-AERCam avionics is subject to a number of constraints, most of which can be summarized as severely competing requirements to maximize radiation hardness and maneuvering, image-acquisition, and data-communication capabilities while minimizing cost, size, and power consumption. The report discusses the design constraints, the engineering approach to satisfying the constraints, and the resulting iterations of the design. The report places special emphasis on the design of a flight computer that would (1) acquire position and orientation data from a Global Positioning System receiver and a microelectromechanical gyroscope, respectively; (2) perform all flight-control (including thruster-control) computations in real time; and (3) control video, tracking, power, and illumination systems.
Tubular structures are critical components in infrastructure such as power plants. Throughout their life, they are subjected to extreme conditions or suffer from defects such as corrosion and cracks. Although regular inspection of these components is necessary, such inspection is limited by safety-related risks and limited access for human inspection. Robots can provide a solution for automatic inspection. The main challenge, however, lies in integrating sensors for nondestructive evaluation with robotic platforms. As part of developing a versatile lizard-inspired tube inspector robot, in this study the authors propose to integrate electromagnetic acoustic transducers into a modular robotic gripper for use in automated ultrasonic inspection. In particular, spiral coils with cylindrical magnets are integrated into a novel friction-based gripper to excite Lamb waves in thin cylindrical structures. To evaluate the performance of the integrated sensors, the gripper was attached to a robotic arm manipulator and tested on pipes of different outer diameters. Two sets of tests were carried out on both defect-free pipes and pipes with simulated defects, including surface partial cracking and corrosion. The inspection results indicated that transmitted and received signals could be acquired with an acceptable signal-to-noise ratio in the time domain. Moreover, the simulated defects could be successfully detected using the integrated robotic sensing system.
This paper presents on-going research in robotic inspection of space platforms. Three main areas of investigation are discussed: machine vision inspection techniques, an integrated sensor end-effector, and an orbital environment laboratory simulation. Machine vision inspection utilizes automatic comparison of new and reference images to detect on-orbit induced damage such as micrometeorite impacts. The cameras and lighting used for this inspection are housed in a multisensor end-effector, which also contains a suite of sensors for detection of temperature, gas leaks, proximity, and forces. To fully test all of these sensors, a realistic space platform mock-up has been created, complete with visual, temperature, and gas anomalies. Further, changing orbital lighting conditions are effectively mimicked by a robotic solar simulator. In the paper, each of these technology components will be discussed, and experimental results are provided.
The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit. This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.
The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.
Inspection of coal-fired power plants is frequently dangerous, includes difficult places to reach, and can turn expensive due to the downtimes and cost of inspection crew. Robotic systems have shown capabilities to address some of these issues, but most of the current robotic inspection technology in power plants is designed for specific components. Conversely, recent advances in machine vision have empowered aerial platforms for long-range, remotely-controlled, GPS-based inspections of industrial plants. This capability has led to wide spread utilization of aerial robots (commonly termed Drones, UVS or UAS) platforms for inspection in less challenging environments where both collision avoidance, and GPS reception are not significant issues. The challenge in adapting airborne technology for power plant inspection lies in internal structures and the complex network of piping, and distribution systems, which impose significant risks for collision and can hinder the reception and transmission of GPS signals. The current state of the art in aerial inspection technology within the energy sector is controlled via radio control, and utilizes GPS-based navigation, for inspection of large-scale plants such as offshore platforms and wind turbine parks. Nevertheless, close-range and autonomous inspection in the GPS-denied environments of power plants has not yet been achieved, as it requires precise guidance and navigation with real-time situational awareness and obstacle avoidance capabilities. This endeavor introduced the use of rotary wing flying robots, due to their station keeping and vertical take-off capabilities for power plant components inspection. To enable close quarter inspection two methods were used. One method uses the 3D CAD (Three-dimensional Computer-Aided Design) model of the asset to inspect to generate the UAV’s inspection path. To acquire, analyze and process the 3D model, first, the STL file is produced to obtain surface points and vectors normal to the surface. Later, by introducing other variables such as wall offset and a controlled trajectory between each outline and each subsequent layer, the flight path is generated. The proposed framework will generate a path that will pass as close as desired from the surface and navigate in intricate environments. A second method, use advanced manufacturing techniques such as CNC (Computer Numerical Control) and additive manufacturing. Once the inspection flight path is obtained, vision-based navigation systems are employed to have the UAV autonomously tracking the provided trajectory. Finally, Artificial Intelligence-enabled developments are in charge of detecting cracks and corrosion in structural components of power plants. The proposed methods are validated in simulations, laboratory and industrial setups, where it is shown that the developed systems acting together enable close-quarter autonomous aerial inspection and mapping in power plant assets. The system can be further improved by adding more sensors to navigate in different GPS-denied environments, with non-homogeneous lighting conditions, dust and in general situations where vision-based systems may fail.