KSC-2014-2981

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, students from the University of Colorado Boulder demonstrated a robotic capability for growing a variety of plants in a deep-space habitat. Daniel Zukowski, a University of Colorado Boulder graduate student, right, and Morgan Simpson of the NASA Ground Processing Directorate, check computer displays during a presentation of the team's entry in the eXploration HABitat X-Hab Academic Innovation Challenge. In their concept called "Plants Anywhere: Plants Growing in Free Habitat Spaces," their approach calls for robotically tended plants to be scattered in any available space in a deep-space habitat instead of an area set aside just for vegetation. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from Case Western Reserve University pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from The University of Utah pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

First-time participants from Saginaw Valley State University pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

On the second day of NASA's 9th Robotic Mining Competition, May 15, team members from Temple University work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from The University of Alabama pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the South Dakota School of Mines & Technology pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

Team members from Iowa State University prepare their robot miner on the second day of NASA's 9th Robotic Mining Competition, May 15, in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, college team members work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from New York University work on their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from York College CUNY are with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Arkansas pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

Team members cheer during their robot miner's turn in the mining arena on the third day of NASA's 9th Robotic Mining Competition, May 16, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, two robot miners dig in the dirt in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

New Opportunities for Outer Solar System Science using Radioisotope Electric Propulsion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Noble, Robert J.; /SLAC; Amini, Rashied

Today, our questions and hypotheses about the Solar System's origin have surpassed our ability to deliver scientific instruments to deep space. The moons of the outer planets, the Trojan and Centaur minor planets, the trans-Neptunian objects (TNO), and distant Kuiper Belt objects (KBO) hold a wealth of information about the primordial conditions that led to the formation of our Solar System. Robotic missions to these objects are needed to make the discoveries, but the lack of deep-space propulsion is impeding this science. Radioisotope electric propulsion (REP) will revolutionize the way we do deep-space planetary science with robotic vehicles, giving themmore » unprecedented mobility. Radioisotope electric generators and lightweight ion thrusters are being developed today which will make possible REP systems with specific power in the range of 5 to 10 W/kg. Studies have shown that this specific power range is sufficient to perform fast rendezvous missions from Earth to the outer Solar System and fast sample return missions. This whitepaper discusses how mobility provided by REP opens up entirely new science opportunities for robotic missions to distant primitive bodies. We also give an overview of REP technology developments and the required next steps to realize REP.« less

Lunar Sample Return Missions Using a Tele-Robotic Lander

NASA Astrophysics Data System (ADS)

Downes, H.; Crawford, I. A.; Alexander, L.

2018-02-01

Deep Space Gateway would allow tele-robotic landers and rovers to access regions of the Moon which have not been previously sampled. Scientific questions, e.g., the nature and duration of volcanic activity and the composition of the mantle/lower crust, could be addressed.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

During the third day of NASA's 9th Robotic Mining Competition, May 16, Al Feinberg, left, with Kennedy Space Center's Communication and Public Engagement, and Kurt Leucht, with Kennedy's Engineering Directorate, provide commentary as robot miners dig in the dirt in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Monitor and Control of the Deep-Space network via Secure Web

NASA Technical Reports Server (NTRS)

Lamarra, N.

1997-01-01

(view graph) NASA lead center for robotic space exploration. Operating division of Caltech/Jet Propulsion Laboratory. Current missions, Voyagers, Galileo, Pathfinder, Global Surveyor. Upcoming missions, Cassini, Mars and New Millennium.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the University of Minnesota-Twin Cities work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

On the second day of NASA's 9th Robotic Mining Competition, May 15, team members from the University of Tulsa work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the South Dakota School of Mines & Technology work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from Montana Tech of the University of Montana work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from York College CUNY make adjustments to their robot miner for its turn in the mining arena on the fourth day of NASA's 9th Robotic Mining Competition, May 17, inside the RobotPits at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the Illinois Institute of Technology work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the University of North Carolina at Charlotte work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from Temple University work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members and their faculty advisor, far left, from The University of North Carolina at Charlotte pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Colorado Boulder work on their robot miner in the RobotPits in the Educator Resource Center on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

First-time participants from the University of Maine, along with their faculty advisor, at far right, are with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

On the second day of NASA's 9th Robotic Mining Competition, May 15, team members from Saginaw Valley State University in Michigan work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

Team members and their advisor, far right, from Montana Tech of the University of Montana, prepare their robot miner on the second day of NASA's 9th Robotic Mining Competition, May 15, in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

Team members from the University of Colorado at Boulder pause with their robot miner outside of the mining arena on the third day of NASA's 9th Robotic Mining Competition, May 16, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, team members from Temple University prepare their robot miner for its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, team members prepare their robot miner for its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, judges watch as a robot miner digs in the dirt in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, team members from the University of Portland prepare their robot miner for its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

Members of a college team watch on the monitor as their robot miner digs in the mining arena on the third day of NASA's 9th Robotic Mining Competition, May 16, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, a university team cleans their robot miner after its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

On the third day of NASA's 9th Robotic Mining Competition, May 16, team members from the University of Portland pause with their robot miner before its turn in the mining arena at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

Team members from New York University prepare their robot miner for its turn in the mining arena on the third day of NASA's 9th Robotic Mining Competition, May 16, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-16

A volunteer talks with a mining judge near the mining arena on the third day of NASA's 9th Robotic Mining Competition, May 16, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Arkansas make adjustments to their robot miner for its turn in the mining arena on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. They are in the RobotPits inside the Educator Resource Center. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

A flag presentation and singing of the National Anthem are part of the opening ceremony of NASA's 9th Robotic Mining Competition, May 15, in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their uniquely designed mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Opening Ceremony

NASA Image and Video Library

2018-05-15

On the second day of NASA's 9th Robotic Mining Competition, May 15, the RoboPits in the Educatory Resource Center at Kennedy Space Center Visitor Complex in Florida is filled with teams of students working on their uniquely designed robot miners. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Deep space telecommunications, navigation, and information management. Support of the space exploration initiative

NASA Astrophysics Data System (ADS)

Hall, Justin R.; Hastrup, Rolf C.

The United States Space Exploration Initiative (SEI) calls for the charting of a new and evolving manned course to the Moon, Mars, and beyond. This paper discusses key challenges in providing effective deep space telecommunications, navigation, and information management (TNIM) architectures and designs for Mars exploration support. The fundamental objectives are to provide the mission with means to monitor and control mission elements, acquire engineering, science, and navigation data, compute state vectors and navigate, and move these data efficiently and automatically between mission nodes for timely analysis and decision-making. Although these objectives do not depart, fundamentally, from those evolved over the past 30 years in supporting deep space robotic exploration, there are several new issues. This paper focuses on summarizing new requirements, identifying related issues and challenges, responding with concepts and strategies which are enabling, and, finally, describing candidate architectures, and driving technologies. The design challenges include the attainment of: 1) manageable interfaces in a large distributed system, 2) highly unattended operations for in-situ Mars telecommunications and navigation functions, 3) robust connectivity for manned and robotic links, 4) information management for efficient and reliable interchange of data between mission nodes, and 5) an adequate Mars-Earth data rate.

Competition Underway at NASA 2017 Robotic Mining Competition

NASA Image and Video Library

2017-05-24

NASA’s Eighth Annual Robotic Mining Competition (RMC) began its first of three days of actual competition at Kennedy Space Center in Florida. Forty-five teams of college undergraduate and graduate students – and their uniquely-designed and built mining robots – race against the clock to collect and move the most simulated Martian soil. Students also are judged on how they use their robots to inspire their community about science, technology, engineering and math (STEM). Competition continues through Friday. Managed by, and held annually at Kennedy Space Center, RMC is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in STEM fields by expanding opportunities for student research and design. The project provides a competitive environment to foster innovative ideas and solutions with potential use on NASA’s deep space exploration missions, including to Mars.

Recent Advances in Nuclear Powered Electric Propulsion for Space Exploration

NASA Technical Reports Server (NTRS)

Cassady, R. Joseph; Frisbee, Robert H.; Gilland, James H.; Houts, Michael G.; LaPointe, Michael R.; Maresse-Reading, Colleen M.; Oleson, Steven R.; Polk, James E.; Russell, Derrek; Sengupta, Anita

2007-01-01

Nuclear and radioisotope powered electric thrusters are being developed as primary in-space propulsion systems for potential future robotic and piloted space missions. Possible applications for high power nuclear electric propulsion include orbit raising and maneuvering of large space platforms, lunar and Mars cargo transport, asteroid rendezvous and sample return, and robotic and piloted planetary missions, while lower power radioisotope electric propulsion could significantly enhance or enable some future robotic deep space science missions. This paper provides an overview of recent U.S. high power electric thruster research programs, describing the operating principles, challenges, and status of each technology. Mission analysis is presented that compares the benefits and performance of each thruster type for high priority NASA missions. The status of space nuclear power systems for high power electric propulsion is presented. The paper concludes with a discussion of power and thruster development strategies for future radioisotope electric propulsion systems,

Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

NASA Astrophysics Data System (ADS)

Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

2017-11-01

With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

PubMed

Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

2005-08-01

To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Robotic Mining Competition Award Ceremony

NASA Image and Video Library

2017-05-26

Students from 45 colleges and universities gathered at Kennedy Space Center’s Saturn V Visitor Complex in Florida on Friday, May 26, to celebrate and conclude NASA’s Eight Annual Robotic Mining Competition. Awards were presented to the winning teams in multiple categories. The three-day competition pitted excavator robots designed and built by each team to mine the most simulated Martian soil in a specified amount of time. Students also were judged on how each team used its robot to inspire its respective community about careers in science, technology, engineering and math (STEM). Managed by, and held annually at Kennedy Space Center, RMC is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in STEM fields by expanding opportunities for student research and design. The project provides a competitive environment to foster innovative ideas and solutions with potential use on NASA’s deep space exploration missions, including to Mars.

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Medical Engineering and Microneurosurgery: Application and Future.

PubMed

Morita, Akio; Sora, Shigeo; Nakatomi, Hirofumi; Harada, Kanako; Sugita, Naohiko; Saito, Nobuhito; Mitsuishi, Mamoru

2016-10-15

Robotics and medical engineering can convert traditional surgery into digital and scientific procedures. Here, we describe our work to develop microsurgical robotic systems and apply engineering technology to assess microsurgical skills. With the collaboration of neurosurgeons and an engineering team, we have developed two types of microsurgical robotic systems. The first, the deep surgical systems, enable delicate surgical procedures such as vessel suturing in a deep and narrow space. The second type allows for super-fine surgical procedures such as anastomosing artificial vessels of 0.3 mm in diameter. Both systems are constructed with master and slave manipulator robots connected to local area networks. Robotic systems allowed for secure and accurate procedures in a deep surgical field. In cadaveric models, these systems showed a good potential of being useful in actual human surgeries, but mechanical refinements in thickness and durability are necessary for them to be established as clinical systems. The super-fine robotic system made the very intricate surgery possible and will be applied in clinical trials. Another trial included the digitization of surgical technique and scientific analysis of surgical skills. Robotic and human hand motions were analyzed in numerical fashion as we tried to define surgical skillfulness in a digital format. Engineered skill assessment is also feasible and should be useful for microsurgical training. Robotics and medical engineering should bring science into the surgical field and training of surgeons. Active collaboration between medical and engineering teams and academic and industry groups is mandatory to establish such medical systems to improve patient care.

Medical Engineering and Microneurosurgery: Application and Future

PubMed Central

MORITA, Akio; SORA, Shigeo; NAKATOMI, Hirofumi; HARADA, Kanako; SUGITA, Naohiko; SAITO, Nobuhito; MITSUISHI, Mamoru

2016-01-01

Robotics and medical engineering can convert traditional surgery into digital and scientific procedures. Here, we describe our work to develop microsurgical robotic systems and apply engineering technology to assess microsurgical skills. With the collaboration of neurosurgeons and an engineering team, we have developed two types of microsurgical robotic systems. The first, the deep surgical systems, enable delicate surgical procedures such as vessel suturing in a deep and narrow space. The second type allows for super-fine surgical procedures such as anastomosing artificial vessels of 0.3 mm in diameter. Both systems are constructed with master and slave manipulator robots connected to local area networks. Robotic systems allowed for secure and accurate procedures in a deep surgical field. In cadaveric models, these systems showed a good potential of being useful in actual human surgeries, but mechanical refinements in thickness and durability are necessary for them to be established as clinical systems. The super-fine robotic system made the very intricate surgery possible and will be applied in clinical trials. Another trial included the digitization of surgical technique and scientific analysis of surgical skills. Robotic and human hand motions were analyzed in numerical fashion as we tried to define surgical skillfulness in a digital format. Engineered skill assessment is also feasible and should be useful for microsurgical training. Robotics and medical engineering should bring science into the surgical field and training of surgeons. Active collaboration between medical and engineering teams and academic and industry groups is mandatory to establish such medical systems to improve patient care. PMID:27464471

Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept

NASA Technical Reports Server (NTRS)

Strange, Nathan; Landau, Damon; McElrath, Timothy; Lantoine, Gregory; Lam, Try; McGuire, Melissa; Burke, Laura; Martini, Michael; Dankanich, John

2013-01-01

Part of NASA's new asteroid initiative would be a robotic mission to capture a roughly four to ten meter asteroid and redirect its orbit to place it in translunar space. Once in a stable storage orbit at the Moon, astronauts would then visit the asteroid for science investigations, to test in space resource extraction, and to develop experience with human deep space missions. This paper discusses the mission design techniques that would enable the redirection of a 100-1000 metric ton asteroid into lunar orbit with a 40-50 kW Solar Electric Propulsion (SEP) system.

2016 Summer Series - Terry Fong - Planetary Exploration Reinvented

NASA Image and Video Library

2016-07-07

The allure of deep space drives humanity’s curiosity to further explore the universe, but the risks associated with spaceflight are still limiting. Technological advancements in robotics and data processing are pushing the envelope of Human planetary exploration and habitation. Dr. Terry Fong from the NASA Ames’ Intelligent Robotics Group will describe how we are reinventing the approach to explore the universe.

(abstract) Telecommunications for Mars Rovers and Robotic Missions

NASA Technical Reports Server (NTRS)

Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

1997-01-01

Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

The Future of the Deep Space Network: Technology Development for K2-Band Deep Space Communications

NASA Technical Reports Server (NTRS)

Bhanji, Alaudin M.

1999-01-01

Projections indicate that in the future the number of NASA's robotic deep space missions is likely to increase significantly. A launch rate of up to 4-6 launches per year is projected with up to 25 simultaneous missions active [I]. Future high resolution mapping missions to other planetary bodies as well as other experiments are likely to require increased downlink capacity. These future deep space communications requirements will, according to baseline loading analysis, exceed the capacity of NASA's Deep Space Network in its present form. There are essentially two approaches for increasing the channel capacity of the Deep Space Network. Given the near-optimum performance of the network at the two deep space communications bands, S-Band (uplink 2.025-2.120 GHz, downlink 2.2-2.3 GHz), and X-Band (uplink 7.145-7.19 GHz, downlink 8.48.5 GHz), additional improvements bring only marginal return for the investment. Thus the only way to increase channel capacity is simply to construct more antennas, receivers, transmitters and other hardware. This approach is relatively low-risk but involves increasing both the number of assets in the network and operational costs.

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

NASA Technical Reports Server (NTRS)

Fong, Terry

2017-01-01

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Radiation -- A Cosmic Hazard to Human Habitation in Space

NASA Technical Reports Server (NTRS)

Lewis, Ruthan; Pellish, Jonathan

2017-01-01

Radiation exposure is one of the greatest environmental threats to the performance and success of human and robotic space missions. Radiation permeates all space and aeronautical systems, challenges optimal and reliable performance, and tests survival and survivability. We will discuss the broad scope of research, technological, and operational considerations to forecast and mitigate the effects of the radiation environment for deep space and planetary exploration.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from North Dakota State University in collaboration with James Madison University received the IEEE Judges' Innovation Award for the most innovative design of a mining robot. At left is retired NASA astronaut Jerry Ross. At right is Michael Johansen, mining judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

Bell, Mary S.; Calaway, M. J.; Evans, C. A.; Li,Z.; Tong, S.; Zhong, Y.; Dahiwala, R.; Wang, L.; Porter, F.

2013-01-01

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from Iowa State University received second place in the Outreach Project category. At left is retired NASA astronaut Jerry Ross. At right is Bethanne Hull, NASA Education specialist and lead Outreach Project judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received first place in the Outreach Project category. At left is retired NASA astronaut Jerry Ross. At right is Bethanne Hull, NASA Education specialist and lead Outreach Project judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received first place for their Systems Engineering Paper. At left is retired NASA astronaut Jerry Ross. At right is Jonette Stecklein, lead systems engineering paper judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received first place in the On-Site Mining Award. At left is retired NASA astronaut Jerry Ross. At right is Rob Mueller, lead mining judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received third place in the Slide Presentation and Demonstration award category. At left is retired NASA astronaut Jerry Ross. At right is Daniel Hull, lead presentation judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from The University of Akron received third place for their Systems Engineering Paper. At left is retired NASA astronaut Jerry Ross. At right is Jonette Stecklein, lead systems engineering paper judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received the Efficient Use of Communications Power Award. At left is retired NASA astronaut Jerry Ross. At right is Kurt Leucht, a NASA engineer in Swamp Works and event emcee. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from Kent State University received third place in the On-Site Mining Award. At left is retired NASA astronaut Jerry Ross. At right is Rob Mueller, lead mining judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from The University of Akron received third place in the Outreach Project category. At left is retired NASA astronaut Jerry Ross. At right is Bethanne Hull, NASA Education specialist and lead Outreach Project judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Kennedy Center Director Opens NASA 2017 Robotic Mining Competition

NASA Image and Video Library

2017-05-23

NASA’s Eighth Annual Robotic Mining Competition (RMC) officially kicked off at NASA’s Kennedy Space Center in Florida on Tuesday, May 23, with Kennedy Director, Bob Cabana, presiding at the annual event’s opening ceremony. Forty-five teams of college undergraduate and graduate students prepped the unique mining robots they designed and built, then conducted practice runs in their quest against the clock to collect and move the most simulated Martian soil. The actual competition is scheduled for Wednesday through Friday. Managed by, and held annually at Kennedy Space Center, RMC is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and math (STEM) fields by expanding opportunities for student research and design. The project provides a competitive environment to foster innovative ideas and solutions with potential use on NASA’s deep space exploration missions, including to Mars.

NASA's In Space Propulsion Technology Program Accomplishments and Lessons Learned

NASA Technical Reports Server (NTRS)

Johnson, Les C.; Harris, David

2008-01-01

NASA's In-Space Propulsion Technology (ISPT) Program was managed for 5 years at the NASA MSFC and significant strides were made in the advancement of key transportation technologies that will enable or enhance future robotic science and deep space exploration missions. At the program's inception, a set of technology investment priorities were established using an NASA-wide, mission-driven prioritization process and, for the most part, these priorities changed little - thus allowing a consistent framework in which to fund and manage technology development. Technologies in the portfolio included aerocapture, advanced chemical propulsion, solar electric propulsion, solar sail propulsion, electrodynamic and momentum transfer tethers, and various very advanced propulsion technologies with significantly lower technology readiness. The program invested in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. By developing the capability to support mid-term robotic mission needs, the program was to lay the technological foundation for travel to nearby interstellar space. The ambitious goals of the program at its inception included supporting the development of technologies that could support all of NASA's missions, both human and robotic. As time went on and budgets were never as high as planned, the scope of the program was reduced almost every year, forcing the elimination of not only the broader goals of the initial program, but also of funding for over half of the technologies in the original portfolio. In addition, the frequency at which the application requirements for the program changed exceeded the development time required to mature technologies: forcing sometimes radical rescoping of research efforts already halfway (or more) to completion. At the end of its fifth year, both the scope and funding of the program were at a minimum despite the program successfully meeting all of it's initial high priority objectives. This paper will describe the program, its requirements, technology portfolio, and technology maturation processes. Also discussed will be the major technology milestones achieved and the lessons learned from managing a $100M+ technology program.

NASA In-Space Propulsion Technology Program: Overview and Update

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Baggett, Randy M.; Bonometti, Joseph A.; Herrmann, Melody; James, Bonnie F.; Montgomery, Sandy E.

2004-01-01

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program's technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion system operating in the 5- to 10-kW range to aerocapture and solar sails, substantial advances in - spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer.tethers, aeroassist and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, as well as NASA's plans for advancing them as part of the In-Space Propulsion Technology Program.

NASA's In-Space Propulsion Technology Program: Overview and Status

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Baggett, Randy; Bonometti, Joe; Herrmann, Melody; James, Bonnie; Montgomery, Sandy

2004-01-01

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next generation ion propulsion system operating in the 5 - 10 kW range, to advanced cryogenic propulsion, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called, 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer tethers, aeroassist, and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, and NASA s plans for advancing them as part of the $60M per year In-Space Propulsion Technology Program.

NASA's In-Space Propulsion Technology Program: Overview and Update

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Baggett, Randy M.; Bonometti, Joseph A.; Herrmann, Melody; James, Bonnie F.; Montgomery, Sandy E.

2004-01-01

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion system operating in the 5- to 10-kW range to aerocapture and solar sails, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals ase the environment of space itself for energy and propulsion and are generically called 'propellantless' because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations such as solar sails, electrodynamic and momentum transfer tethers, aeroassist, and aerocapture. This paper will provide an overview of both propellantless and propellant-based advanced propulsion technologies, as well as NASA s plans for advancing them as part of the In-Space Propulsion Technology Program.

Deep space telecommunications, navigation, and information management - Support of the Space Exploration Initiative

NASA Technical Reports Server (NTRS)

Hall, Justin R.; Hastrup, Rolf C.

1990-01-01

The principal challenges in providing effective deep space navigation, telecommunications, and information management architectures and designs for Mars exploration support are presented. The fundamental objectives are to provide the mission with the means to monitor and control mission elements, obtain science, navigation, and engineering data, compute state vectors and navigate, and to move these data efficiently and automatically between mission nodes for timely analysis and decision making. New requirements are summarized, and related issues and challenges including the robust connectivity for manned and robotic links, are identified. Enabling strategies are discussed, and candidate architectures and driving technologies are described.

Deep space telecommunications, navigation, and information management - Support of the Space Exploration Initiative

NASA Astrophysics Data System (ADS)

Hall, Justin R.; Hastrup, Rolf C.

1990-10-01

The principal challenges in providing effective deep space navigation, telecommunications, and information management architectures and designs for Mars exploration support are presented. The fundamental objectives are to provide the mission with the means to monitor and control mission elements, obtain science, navigation, and engineering data, compute state vectors and navigate, and to move these data efficiently and automatically between mission nodes for timely analysis and decision making. New requirements are summarized, and related issues and challenges including the robust connectivity for manned and robotic links, are identified. Enabling strategies are discussed, and candidate architectures and driving technologies are described.

Nuclear Thermal Rocket - Arc Jet Integrated System Model

NASA Technical Reports Server (NTRS)

Taylor, Brian D.; Emrich, William

2016-01-01

In the post-shuttle era, space exploration is moving into a new regime. Commercial space flight is in development and is planned to take on much of the low earth orbit space flight missions. With the development of a heavy lift launch vehicle, the Space Launch, System, NASA has become focused on deep space exploration. Exploration into deep space has traditionally been done with robotic probes. More ambitious missions such as manned missions to asteroids and Mars will require significant technology development. Propulsion system performance is tied to the achievability of these missions and the requirements of other developing technologies that will be required. Nuclear thermal propulsion offers a significant improvement over chemical propulsion while still achieving high levels of thrust. Opportunities exist; however, to build upon what would be considered a standard nuclear thermal engine to attain improved performance, thus further enabling deep space missions. This paper discuss the modeling of a nuclear thermal system integrated with an arc jet to further augment performance. The performance predictions and systems impacts are discussed.

How to get the best from robotic thoracic surgery.

PubMed

Ricciardi, Sara; Zirafa, Carmelina Cristina; Davini, Federico; Melfi, Franca

2018-04-01

The application of Robotic technology in thoracic surgery has become widespread in the last decades. Thanks to its advanced features, the robotic system allows to perform a broad range of complex operations safely and in a comfortable way, with valuable advantages related to low invasiveness. Regarding lung tumours, several studies have shown the benefits of robotic surgery including lower blood loss and improved lymph node removal when compared with other minimally invasive techniques. Moreover, the robotic instruments allow to reach deep and narrow spaces permitting safe and precise removal of tumours located in remote areas, such as retrosternal and posterior mediastinal spaces with outstanding postoperative and oncological results. One controversial finding about the application of robotic system is its high capital and running costs. For this reason, a limited number of centres worldwide are able to employ this groundbreaking technology and there are limited possibilities for the trainees to acquire the necessary skills in robotic surgery. Therefore, a training programme based on three steps of learning, associated with a solid surgical background and a consistent operating activity, are required to obtain effective results. Putting this highest technological innovation in the hand of expert surgeons we can assure safe and effective procedures getting the best from robotic thoracic surgery.

Graphical programming: A systems approach for telerobotic servicing of space assets

NASA Technical Reports Server (NTRS)

Pinkerton, James T.; Mcdonald, Michael J.; Palmquist, Robert D.; Patten, Richard

1994-01-01

Satellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability.

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

NASA Technical Reports Server (NTRS)

Sibille, Laurent; Mantovani, James; Dominquez, Jesus

2011-01-01

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.

Achieving Supportability on Exploration Missions with In-Space Servicing

NASA Technical Reports Server (NTRS)

Bacon, Charles; Pellegrino, Joseph F.; McGuire, Jill; Henry, Ross; DeWeese, Keith; Reed, Benjamin; Aranyos, Thomas

2015-01-01

One of the long-term exploration goals of NASA is manned missions to Mars and other deep space robotic exploration. These missions would include sending astronauts along with scientific equipment to the surface of Mars for extended stay and returning the crew, science data and surface sample to Earth. In order to achieve this goal, multiple precursor missions are required that would launch the crew, crew habitats, return vehicles and destination systems into space. Some of these payloads would then rendezvous in space for the trip to Mars, while others would be sent directly to the Martian surface. To support such an ambitious mission architecture, NASA must reduce cost, simplify logistics, reuse and/or repurpose flight hardware, and minimize resources needed for refurbishment. In-space servicing is a means to achieving these goals. By designing a mission architecture that utilizes the concept of in-space servicing (robotic and manned), maximum supportability can be achieved.

Flexible-Path Human Exploration

NASA Technical Reports Server (NTRS)

Sherwood, B.; Adler, M.; Alkalai, L.; Burdick, G.; Coulter, D.; Jordan, F.; Naderi, F.; Graham, L.; Landis, R.; Drake, B.;

JPL Closeup

NASA Technical Reports Server (NTRS)

1983-01-01

Voyager, Infrared Astronomical Satellite, Galileo, Viking, Solar Mesosphere Explorer, Wide-field/Planetary Camera, Venus Mapper, International Solar Polar Mission - Solar Interplanetary Satellite, Extreme Ultraviolet Explores, Starprobe, International Halley Watch, Marine Mark II, Samex, Shuttle Imaging Radar-A, Deep Space Network, Biomedical Technology, Ocean Studies and Robotics are summarized.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The University of Alabama Team Astrobotics received the top award, the Joe Kosmo Award for Excellence, which is given to the team that scores the most points during the competition. At far left in front is retired NASA astronaut Jerry Ross. At far right is Richard Johanboeke, NASA education specialist and project manager for the Robotic Mining Competition. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Forming Human-Robot Teams Across Time and Space

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

2012-01-01

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

A new Concept for High Resolution Benthic Mapping and Data Aquisition: MANSIO-VIATOR

NASA Astrophysics Data System (ADS)

Flögel, S.

2015-12-01

Environmental conditions within sensitive seafloor ecosystems such as cold-seep provinces or cold-water coral reef communities vary temporally and spatially over a wide range of scales. Some of these are regularly monitored via short periods of intense shipborne activity or low resolution, fixed location studies by benthic lander systems. Long term measurements of larger areas and volumes are ususally coupled to costly infrastructure investments such as cabled observatories. In space exploration, a combination of fixed and mobile systems working together are commonly used, e.g. lander systems coupled to rovers, to tackle observational needs that are very similar to deep-sea data aquisition. The analogies between space and deep-sea research motivated the German Helmholtz Association to setup the joint research program ROBEX (Robotic Exploration under extreme conditions). The program objectives are to identify, develop and verify technological synergies between the robotic exploration of e.g. the moon and the deep-sea. Within ROBEX, the mobility of robots is a vital element for research missions due to valuable scientifice return potential from different sites as opposed to static landers. Within this context, we developed a new mobile crawler system (VIATOR, latin for traveller) and a fixed lander component for energy and data transfer (MANSIO, latin for housing/shelter). This innovative MANSIO-VIATOR system has been developed during the past 2.5 years. The caterpillar driven component is developed to conduct high resolution opitcal mapping and repeated monitoring of physical and biogeochemical parameters along transects. The system operates fully autonomously including navigational components such as camera and laser scanners, as well as marker based near-field navigation used in space technology. This new concept of data aquisition by a submarine crawler in combination with a fixed lander further opens up marine exploration possibilities.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

NASA's 9th Annual Robotic Mining Competition concludes with an awards ceremony May 18, 2018, at the Apollo/Saturn V Center at the Kennedy Space Center Visitor Complex in Florida. The team from North Dakota University in collaboration with James Madison University received second place in the On-Site Mining Award. At left is retired NASA astronaut Jerry Ross. At right is Rob Mueller, lead mining judge. More than 40 student teams from colleges and universities around the U.S. participated in the competition, May 14-18, by using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Software for project-based learning of robot motion planning

NASA Astrophysics Data System (ADS)

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-12-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can be explained in a simplified two-dimensional setting, but this masks many of the subtleties and complexities of the underlying problem. We have developed software for project-based learning of motion planning that enables deep learning. The projects that we have developed allow advanced undergraduate students and graduate students to reflect on the performance of existing textbook algorithms and their own variations on such algorithms. Formative assessment has been conducted at three institutions. The core of the software used for this teaching module is also used within the Robot Operating System, a widely adopted platform by the robotics research community. This allows for transfer of knowledge and skills to robotics research projects involving a large variety robot hardware platforms.

Soft Robotic Grippers for Biological Sampling on Deep Reefs.

PubMed

Galloway, Kevin C; Becker, Kaitlyn P; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Wood, Robert J; Gruber, David F

2016-03-01

This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.

Soft Robotic Grippers for Biological Sampling on Deep Reefs

PubMed Central

Galloway, Kevin C.; Becker, Kaitlyn P.; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Gruber, David F.

2016-01-01

Abstract This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna. PMID:27625917

ROBOTIC MINING COMPETITORS BREAKFAST WITH NASA WOMEN ENGINEERS AND SCIENTISTS

NASA Image and Video Library

2017-05-25

More than 40 female NASA engineers and scientists shared insights into their successful careers with several hundred students at NASA’s Women in STEM Mentoring Breakfast on Thursday, May 25, at Kennedy Space Center’s Debus Center in Florida. The students, members of the 45 teams in the 2017 NASA Robotic Mining Competition, sat alongside the female mentors and, between bites, learned of what paths the women took to establish their own careers in a field of science, technology, engineering and math, also known as STEM. Managed by, and held annually at Kennedy Space Center, the Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in STEM fields by expanding opportunities for student research and design. The project provides a competitive environment to foster innovative ideas and solutions with potential use on NASA’s deep space exploration missions, including to Mars. SOTs (In order of appearance): Janet Petro, Deputy Director, NASA Kennedy Space Center Camille Stimpson, Melbourne Central Catholic High School (Florida), Observer of Event Lynette Sugatan, Oakton Comminity College (Illinois), “Oaktobotics”

2016 Year in Review Video- NASA’s Marshall Space Flight Center

NASA Image and Video Library

2016-12-22

The work underway today at NASA’s Marshall Space Flight Center is making it possible to send humans beyond Earth’s orbit and into deep space on bold new missions of space exploration. Marshall teams are designing and building NASA’s Space Launch System, the most powerful rocket ever built and the only launch vehicle capable of launching human explorers to Mars. Using the International Space Station’s orbiting lab, Marshall flight controllers provided round-the-clock oversight of science experiments, supporting the first-ever DNA sequencing in space, pioneering 3-D printing capabilities and advancing human health research. Several successful New Frontiers deep-space robotic missions including OSIRIS-REx, New Horizons and Juno, made new discoveries and refined theories of the solar system. And Marshall collaborations with outside partners are yielding innovative technologies and solving technical challenges that are making the Journey to Mars a reality.

Robots that can adapt like animals.

PubMed

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-28

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot 'think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

Robots that can adapt like animals

NASA Astrophysics Data System (ADS)

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-01

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot `think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

Research Objectives for Human Missions in the Proving Ground of Cis-Lunar Space

NASA Astrophysics Data System (ADS)

Spann, James; Niles, Paul; Eppler, Dean; Kennedy, Kriss; Lewis, Ruthan; Sullivan, Thomas

2016-07-01

Introduction: This talk will introduce the preliminary findings in support of NASA's Future Capabilities Team. In support of the ongoing studies conducted by NASA's Future Capabilities Team, we are tasked with collecting re-search objectives for the Proving Ground activities. The objectives could include but are certainly not limited to: demonstrating crew well being and performance over long duration missions, characterizing lunar volatiles, Earth monitoring, near Earth object search and identification, support of a far-side radio telescope, and measuring impact of deep space environment on biological systems. Beginning in as early as 2023, crewed missions beyond low Earth orbit will be enabled by the new capabilities of the SLS and Orion vehicles. This will initiate the "Proving Ground" phase of human exploration with Mars as an ultimate destination. The primary goal of the Proving Ground is to demonstrate the capability of suitably long dura-tion spaceflight without need of continuous support from Earth, i.e. become Earth Independent. A major component of the Proving Ground phase is to conduct research activities aimed at accomplishing major objectives selected from a wide variety of disciplines including but not limited to: Astronomy, Heliophysics, Fun-damental Physics, Planetary Science, Earth Science, Human Systems, Fundamental Space Biology, Microgravity, and In Situ Resource Utilization. Mapping and prioritizing the most important objectives from these disciplines will provide a strong foundation for establishing the architecture to be utilized in the Proving Ground. Possible Architectures: Activities and objectives will be accomplished during the Proving Ground phase using a deep space habitat. This habitat will potentially be accompanied by a power/propulsion bus capable of moving the habitat to accomplish different objectives within cis-lunar space. This architecture can also potentially support stag-ing of robotic and tele-robotic assets as well as sample-return. As mission durations increase from 20 days to 300 days, increasingly ambitious objectives may be undertaken in-cluding rendezvous with an asteroid or other near-Earth object. Research activities can occur inside the habitat, outside the habitat, via externally mounted instruments, or using free flying satellites/landers. Research Objectives: Primary mission objectives are listed below. In order to help define details of the mission architecture, including the means by which the architecture can be supported, more specific research objectives are needed. Title/Objective • Crew Transportation/Provide ability to transport at least four crew to cislunar space • Heavy Launch Capability/Provide beyond-LEO launch capabilities to include crew, co-manisfested pay-loads, and large cargo • In-Space Propulsion/Provide in-space propulsion capabilities to send crew and cargo on Mars-class mission durations and distances • Deep Space Navigation and Communication/Provide and validate cislunar and Mars system navigation and communication • Science/Enable science community objectives • Deep Space Operations/Provide deep-space operation capabilities: EVA, Staging, Logistics, Human-robotic integration, Autonomous operations • In-Situ Resource Utilization/Understand the nature and distribution of volatiles and extraction techniques, and decide on their potential use in the human exploration architecture • Deep Space Habitation/Provide beyond-LEO habitation systems sufficient to support at least four crew on Mars-class mission durations and dormancy • Crew Health/Validate crew health, performance, and mitigation protocols for Mars-class missions Reference: NASA, NASA's Journey to Mars: Pioneering Next Steps in Space Exploration. 34 ( October 8, 2015).

The Max Rover submersible is tested at the Trident pier, Port Canaveral

NASA Technical Reports Server (NTRS)

1997-01-01

Thomas Lippitt of NASA's Advanced Systems Development (ASD) laboratory observes robotic operations as Chris Nicholson, owner of Deep Sea Systems, and Bill Jones of NASA's ASD laboratory operate the unmanned robotic submersible recovery system, known as Max Rover, during a test of the system at the Trident Pier at Port Canaveral. The submersible is seen in the water with the Diver Operated Plug (DOP). Kennedy Space Center's solid rocket booster (SRB) retrieval team and ASD laboratory staff hope that the new robotic technology will make the process of inserting the plug safer and less strenuous. Currently, scuba divers manually insert the DOP into the aft nozzle of a jettisoned SRB 60 to 70 feet below the surface of the Atlantic Ocean. After the plug is installed, water is pumped out of the booster allowing it to float horizontally. It is then towed back to Hangar AF at Cape Canaveral Air Station for refurbishment. Deep Sea Systems of Falmouth, Mass., built the submersible for NASA.

Deep ART Neural Model for Biologically Inspired Episodic Memory and Its Application to Task Performance of Robots.

PubMed

Park, Gyeong-Moon; Yoo, Yong-Ho; Kim, Deok-Hwa; Kim, Jong-Hwan; Gyeong-Moon Park; Yong-Ho Yoo; Deok-Hwa Kim; Jong-Hwan Kim; Yoo, Yong-Ho; Park, Gyeong-Moon; Kim, Jong-Hwan; Kim, Deok-Hwa

2018-06-01

Robots are expected to perform smart services and to undertake various troublesome or difficult tasks in the place of humans. Since these human-scale tasks consist of a temporal sequence of events, robots need episodic memory to store and retrieve the sequences to perform the tasks autonomously in similar situations. As episodic memory, in this paper we propose a novel Deep adaptive resonance theory (ART) neural model and apply it to the task performance of the humanoid robot, Mybot, developed in the Robot Intelligence Technology Laboratory at KAIST. Deep ART has a deep structure to learn events, episodes, and even more like daily episodes. Moreover, it can retrieve the correct episode from partial input cues robustly. To demonstrate the effectiveness and applicability of the proposed Deep ART, experiments are conducted with the humanoid robot, Mybot, for performing the three tasks of arranging toys, making cereal, and disposing of garbage.

Integrated Network Architecture for Sustained Human and Robotic Exploration

NASA Technical Reports Server (NTRS)

Noreen, Gary; Cesarone, Robert; Deutsch, Leslie; Edwards, Charles; Soloff, Jason; Ely, Todd; Cook, Brian; Morabito, David; Hemmati, Hamid; Piazolla, Sabino;

A Flexible Path for Human and Robotic Space Exploration

NASA Technical Reports Server (NTRS)

Korsmeyer, David J.; Landis, Robert; Merrill, Raymond Gabriel; Mazanek, Daniel D.; Falck, Robert D.; Adams, Robert B.

2010-01-01

During the summer of 2009, a flexible path scenario for human and robotic space exploration was developed that enables frequent, measured, and publicly notable human exploration of space beyond low-Earth orbit (LEO). The formulation of this scenario was in support of the Exploration Beyond LEO subcommittee of the Review of U.S. Human Space Flight Plans Committee that was commissioned by President Obama. Exploration mission sequences that allow humans to visit a wide number of inner solar system destinations were investigated. The scope of destinations included the Earth-Moon and Earth-Sun Lagrange points, near-Earth objects (NEOs), the Moon, and Mars and its moons. The missions examined assumed the use of Constellation Program elements along with existing launch vehicles and proposed augmentations. Additionally, robotic missions were envisioned as complements to human exploration through precursor missions, as crew emplaced scientific investigations, and as sample gathering assistants to the human crews. The focus of the flexible path approach was to gain ever-increasing operational experience through human exploration missions ranging from a few weeks to several years in duration, beginning in deep space beyond LEO and evolving to landings on the Moon and eventually Mars.

Research Objectives for Human Missions in the Proving Ground of Cis-Lunar Space

NASA Astrophysics Data System (ADS)

Spann, James; Niles, Paul B.; Eppler, Dean B.; Kennedy, Kriss J.; Lewis, Ruthan.; Sullivan, Thomas A.

2016-04-01

Introduction: This talk will introduce the preliminary findings in support of NASA's Future Capabilities Team. In support of the ongoing studies conducted by NASA's Future Capabilities Team, we are tasked with collecting research objectives for the Proving Ground activities. The objectives could include but are certainly not limited to: demonstrating crew well being and performance over long duration missions, characterizing lunar volatiles, Earth monitoring, near Earth object search and identification, support of a far-side radio telescope, and measuring impact of deep space environment on biological systems. Beginning in as early as 2023, crewed missions beyond low Earth orbit will begin enabled by the new capabilities of the SLS and Orion vehicles. This will initiate the "Proving Ground" phase of human exploration with Mars as an ultimate destination. The primary goal of the Proving Ground is to demonstrate the capability of suitably long duration spaceflight without need of continuous support from Earth, i.e. become Earth Independent. A major component of the Proving Ground phase is to conduct research activities aimed at accomplishing major objectives selected from a wide variety of disciplines including but not limited to: Astronomy, Heliophysics, Fundamental Physics, Planetary Science, Earth Science, Human Systems, Fundamental Space Biology, Microgravity, and In Situ Resource Utilization. Mapping and prioritizing the most important objectives from these disciplines will provide a strong foundation for establishing the architecture to be utilized in the Proving Ground. Possible Architectures: Activities and objectives will be accomplished during the Proving Ground phase using a deep space habitat. This habitat will potentially be accompanied by a power/propulsion bus capable of moving the habitat to accomplish different objectives within cis-lunar space. This architecture can also potentially support staging of robotic and tele-robotic assets as well as sample-return. As mission durations increase from 20 days to 300 days, increasingly ambitious objectives may be undertaken including rendezvous with an asteroid or other near-Earth object. Research activities can occur inside the habitat, outside the habitat, via externally mounted instruments, or using free flying satellites/landers. Research Objectives: Primary mission objectives are listed below. In order to help define details of the mission architecture, including the means by which the architecture can be supported, more specific research objectives are needed. Title/Objective Crew Transportation/Provide ability to transport at least four crew to cislunar space Heavy Launch Capability/Provide beyond LEO launch capabilities to include crew, co-manisfested payloads, and large cargo In-Space Propulsion/Provide in-sapce propulsion capabilities to send crew and cargo on Mars-class mission durations and distances Deep Space Navigation and Communication/Provide and validate cislunar and Mars system navigation and communication Science/Enable science community objectives Deep Space Operations/Provide deep-space operation capabilities: EVA, Staging, Logistics, Human-robotic integration, Autonomous operations In-Situ Resource Utilization/Understand the nature and distribution of volatiles and extraction techniques, and decide on their potential use in the human exploration architecture Deep Space Habitation/Provide beyond LEO habitation systems sufficient to support at least four crew on Mars-class mission durations and dormancy Crew Health/Validate crew health, performance, and mitigation protocols for Mars-class missions Reference: .NASA, NASA's Journey to Mars: Pioneering Next Steps in Space Exploration. 34 ( October 8, 2015).

Habitation Concepts for Human Missions Beyond Low-Earth-Orbit

NASA Technical Reports Server (NTRS)

Smitherman, David V.

2016-01-01

The Advanced Concepts Office at the NASA Marshall Space Flight Center has been engaged for several years in a variety of study activities to help define various options for deep space habitation. This work includes study activities supporting asteroid, lunar and Mars mission activities for the Human spaceflight Architecture Team (HAT), the Deep Space Habitat (DSH) project, and the Exploration Augmentation Module (EAM) project through the NASA Advanced Exploration Systems (AES) Program. The missions under consideration required human habitation beyond low-Earth-orbit (LEO) including deep space habitation in the lunar vicinity to support asteroid retrieval missions, human and robotic lunar surface missions, deep space research facilities, Mars vehicle servicing, and Mars transit missions. Additional considerations included international interest and near term capabilities through the International Space Station (ISS) and Space Launch System (SLS) programs. A variety of habitat layouts have been considered, including those derived from the existing ISS systems, those that could be fabricated from SLS components, and other approaches. This paper presents an overview of several leading designs explored in late fiscal year (FY) 2015 for asteroid, lunar, and Mars mission habitats and identifies some of the known advantages and disadvantages inherent in each. Key findings indicate that module diameters larger than those used for ISS can offer lighter structures per unit volume, and sufficient volume to accommodate consumables for long-duration missions in deep space. The information provided with the findings includes mass and volume data that should be helpful to future exploration mission planning and deep space habitat design efforts.

Site Selection and Deployment Scenarios for Servicing of Deep-Space Observatories

NASA Technical Reports Server (NTRS)

Willenberg, Harvey J.; Fruhwirth, Michael A.; Potter, Seth D.; Leete, Stephen J.; Moe, Rud V.

2001-01-01

The deep-space environment and relative transportation accessibility of the Weak Stability Boundary (WSB) region connecting the Earth-Moon and Sun-Earth libration points makes the Sun-Earth L2 an attractive operating location for future observatories. A summary is presented of key characteristics of future observatories designed to operate in this region. The ability to service observatories that operate within the region around the Lagrange points may greatly enhance their reliability, lifetime, and scientific return. The range of servicing missions might begin with initial deployment, assembly, test, and checkout. Post-assembly servicing missions might also include maintenance and repair, critical fluids resupply, and instrument upgrades. We define the range of servicing missions that can be performed with extravehicular activity, with teleoperated robots, and with autonomous robots. We then describe deployment scenarios that affect payload design. A trade study is summarized of the benefits and risks of alternative servicing sites, including at the International Space Station, at other low-Earth-orbit locations, at the Earth-Moon L1 location, and on-site at the Sun-Earth L2 location. Required technology trades and development issues for observatory servicing at each site, and with each level of autonomy, are summarized.

NASA's Asteroid Redirect Mission: Overview and Status

NASA Astrophysics Data System (ADS)

Abell, Paul; Gates, Michele; Johnson, Lindley; Chodas, Paul; Brophy, John; Mazanek, Dan; Muirhead, Brian

A major element of the National Aeronautics and Space Administration’s (NASA) new Asteroid Initiative is the Asteroid Redirect Mission (ARM). This concept was first proposed in 2011 during a feasibility study at the Keck Institute for Space Studies (KISS)[1] and is under consideration for implementation by NASA. The ARM involves sending a high-efficiency (ISP 3000 s), high-power (40 kW) solar electric propulsion (SEP) robotic vehicle that leverages technology developed by NASA’s Space Technology Mission Directorate (STMD) to rendezvous with a near-Earth asteroid (NEA) and return asteroidal material to a stable lunar distant retrograde orbit (LDRO)[2]. There are two mission concepts currently under study, one that captures an entire 7 - 10 meter mean diameter NEA[3], and another that retrieves a 1 - 10 meter mean diameter boulder from a 100+ meter class NEA[4]. Once the retrieved asteroidal material is placed into the LDRO, a two person crew would launch aboard an Orion capsule to rendezvous and dock with the robotic SEP vehicle. After docking, the crew would conduct two extra-vehicular activities (EVA) to collect asteroid samples and deploy instruments prior to Earth return. The crewed portion of the mission is expected to last approximately 25 days and would represent the first human exploration mission beyond low-Earth orbit (LEO) since the Apollo program. The ARM concept leverages NASA’s activities in Human Exploration, Space Technology, and Planetary Defense to accomplish three primary objectives and several secondary objectives. The primary objective relevant to Human Exploration is to gain operational experience with vehicles, systems, and components that will be utilized for future deep space exploration. In regard to Space Technology, the ARM utilizes advanced SEP technology that has high power and long duration capabilities that enable future missions to deep space destinations, such as the Martian system. With respect to Planetary Defense, the ARM mission will utilize an enhanced NEA observation campaign that will detect, track, and characterize both spacecraft mission targets and potentially hazardous asteroids that may threaten Earth in the future. Potential secondary objectives for ARM include planetary defense demonstrations at the NEA, conducting planetary science (both during the robotic and crewed mission segments), and encouraging commercial and international partnership opportunities. References [1] J. Brophy et al., “Asteroid Retrieval Feasibility Study,” Keck Institute for Space Studies Report, April 2012. [2] N. Strange et al., “Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept,” presented at the 33rd International Electric Propulsion Conference, The George Washington University, Washington, D.C., October 2013. [3] B. Muirhead, J. Brophy “Asteroid Redirect Robotic Mission Feasibility Study,” presented at IEEE Aerospace Conference, Big Sky, Montana, March 2014. [4] Mazenek et al., “Asteroid Redirect Robotic Mission: Alternate Concept Overview”, American Institute of Aeronautics and Astronautics, Space 2014 Conference, San Diego, California, August 2014.

NASA's Space Launch System: A New Capability for Science and Exploration

NASA Technical Reports Server (NTRS)

Crumbly, Christopher M.; May, Todd A.; Robinson, Kimberly F.

2014-01-01

The National Aeronautics and Space Administration's (NASA's) Marshall Space Flight Center (MSFC) is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will launch the Orion Multi-Purpose Crew Vehicle (MPCV) and other high-priority payloads into deep space. Its evolvable architecture will allow NASA to begin with human missions beyond the Moon and then go on to transport astronauts or robots to distant places such as asteroids and Mars. Developed with the goals of safety, affordability, and sustainability in mind, SLS will start with 10 percent more thrust than the Saturn V rocket that launched astronauts to the Moon 40 years ago. From there it will evolve into the most powerful launch vehicle ever flown, via an upgrade approach that will provide building blocks for future space exploration. This paper will explain how NASA will execute this development within flat budgetary guidelines by using existing engines assets and heritage technology, from the initial 70 metric ton (t) lift capability through a block upgrade approach to an evolved 130-t capability, and will detail the progress that has already been made toward a first launch in 2017. This paper will also explore the requirements needed for human missions to deep-space destinations and for game-changing robotic science missions, and the capability of SLS to meet those requirements and enable those missions, along with the evolution strategy that will increase that capability. The International Space Exploration Coordination Group, representing 12 of the world's space agencies, has worked together to create the Global Exploration Roadmap, which outlines paths towards a human landing on Mars, beginning with capability-demonstrating missions to the Moon or an asteroid. The Roadmap and corresponding NASA research outline the requirements for reference missions for all three destinations. The SLS will offer a robust way to transport international crews and the air, water, food, and equipment they would need for extended trips to asteroids, the Moon, and Mars. SLS also offers substantial capability to support robotic science missions, offering benefits such as improved mass margins and radiation mitigation, and reduced mission durations. The SLS rocket, using significantly higher characteristic energy (C3), can more quickly and effectively take the mission directly to its destination, reducing trip time and cost. As this paper will explain, the SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by providing the robust space launch capability to deliver sustainable solutions for advanced exploration.

Human Flight to Lunar and Beyond - Re-Learning Operations Paradigms

NASA Technical Reports Server (NTRS)

Kenny, Ted; Statman, Joseph

2016-01-01

For the first time since the Apollo era, NASA is planning on sending astronauts on flights beyond Low-Earth Orbit (LEO). The Human Space Flight (HSF) program started with a successful initial flight in Earth orbit, in December 2014. The program will continue with two Exploration Missions (EM) to Lunar orbit: EM-1 will be unmanned and EM-2, carrying astronauts, will follow. NASA established a multi-center team to address the communications, and related navigation, needs. This paper will focus on the lessons learned in the team, planning for the missions' parts that are beyond Earth orbit. Many of these lessons had to be re-learned, as the HSF program after operated for many years in Earth orbit. Fortunately, the experience base from tracking robotic missions in deep space by the Deep Space Network (DSN) and close interaction with the HSF community to understand the unique needs (e.g. 2-way voice) resulted in a ConOps that leverages of both the deep space robotic and the Human LEO experiences. Several examples will be used to highlight the unique operational needs for HSF missions beyond Earth Orbit, including: - Navigation. At LEO, HSF missions can rely on Global Positioning System (GPS) devices for orbit determination. For Lunar-and-beyond HSF missions, techniques such as precision 2-way and 3-way Doppler and ranging, Delta-Difference-of-range, and eventually on-board navigation will be used. - Impact of latency - the delay associated with Round-Trip-Light-Time (RTLT). Imagine trying to have a 2-way discussion (audio or video) with an astronaut, with a 2-3 sec delay inserted (for Lunar distances) or 20 minutes delay (for Mars distances). - Balanced communications link. For robotic missions, there has been a heavy emphasis on the downlink data rates, bringing back science data from the instruments on-board the spacecraft. Uplink data rates were of secondary importance, used to send commands to the spacecraft. The ratio of downlink-to-uplink data rates was often 10:1 or more. For HSF, rates for uplink and downlink, at least for high-quality video, need to be similar.

Orion rolled out and mated on This Week @NASA - November 14, 2014

NASA Image and Video Library

2014-11-14

In preparation for its first spaceflight test next month, NASA’s Orion spacecraft was transported from Kennedy Space Center’s Launch Abort System Facility to Space Launch Complex 37 at nearby Cape Canaveral Air Force Station on November 11, arriving at the launch pad early Nov. 12. NASA’s new deep space exploration capsule then was attached to the top of the Delta IV Heavy rocket that will carry it to space for the Dec. 4 test. Also, ISS crew returns safely, Earth Science research to continue with developing nations, Rosetta update, Rocks and Robots and more!

NASA's Space Launch System: A New Capability for Science and Exploration

NASA Technical Reports Server (NTRS)

Robinson, Kimberly F.; Creech, Stephen D.; May, Todd A.

2014-01-01

NASA's Marshall Space Flight Center (MSFC) is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will launch the Orion Multi-Purpose Crew Vehicle (MPCV) and other high-priority payloads into deep space. Its evolvable architecture will allow NASA to begin with human missions beyond the Moon and then go on to transport astronauts or robots to distant places such as asteroids and Mars. Developed with the goals of safety, affordability, and sustainability in mind, SLS will start with 10 percent more thrust than the Saturn V rocket that launched astronauts to the Moon 40 years ago. From there it will evolve into the most powerful launch vehicle ever flown, via an upgrade approach that will provide building blocks for future space exploration. This paper will explain how NASA will execute this development within flat budgetary guidelines by using existing engines assets and heritage technology, from the initial 70 metric ton (t) lift capability through a block upgrade approach to an evolved 130-t capability, and will detail the progress that has already been made toward a first launch in 2017. This paper will also explore the requirements needed for human missions to deep-space destinations and for game-changing robotic science missions, and the capability of SLS to meet those requirements and enable those missions, along with the evolution strategy that will increase that capability. The International Space Exploration Coordination Group, representing 12 of the world's space agencies, has worked together to create the Global Exploration Roadmap, which outlines paths towards a human landing on Mars, beginning with capability-demonstrating missions to the Moon or an asteroid. The Roadmap and corresponding NASA research outline the requirements for reference missions for all three destinations. The SLS will offer a robust way to transport international crews and the air, water, food, and equipment they would need for extended trips to asteroids, the Moon, and Mars. SLS also offers substantial capability to support robotic science missions, offering benefits such as improved mass margins and radiation mitigation, and reduced mission durations. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip time and cost. As this paper will explain, the SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by providing the robust space launch capability to deliver sustainable solutions for advanced exploration.

Advancement of a 30K W Solar Electric Propulsion System Capability for NASA Human and Robotic Exploration Missions

NASA Technical Reports Server (NTRS)

Smith, Bryan K.; Nazario, Margaret L.; Manzella, David H.

2012-01-01

Solar Electric Propulsion has evolved into a demonstrated operational capability performing station keeping for geosynchronous satellites, enabling challenging deep-space science missions, and assisting in the transfer of satellites from an elliptical orbit Geostationary Transfer Orbit (GTO) to a Geostationary Earth Orbit (GEO). Advancing higher power SEP systems will enable numerous future applications for human, robotic, and commercial missions. These missions are enabled by either the increased performance of the SEP system or by the cost reductions when compared to conventional chemical propulsion systems. Higher power SEP systems that provide very high payload for robotic missions also trade favorably for the advancement of human exploration beyond low Earth orbit. Demonstrated reliable systems are required for human space flight and due to their successful present day widespread use and inherent high reliability, SEP systems have progressively become a viable entrant into these future human exploration architectures. NASA studies have identified a 30 kW-class SEP capability as the next appropriate evolutionary step, applicable to wide range of both human and robotic missions. This paper describes the planning options, mission applications, and technology investments for representative 30kW-class SEP mission concepts under consideration by NASA

Space Exploration: Where We Have Been, Where We Are and Where We Are Going: A Human Perspective

NASA Technical Reports Server (NTRS)

Tripathi, R. K.

2005-01-01

NASA is moving forward towards the agency's new vision for space exploration in the 21st Century encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. Exposure from the hazards of severe space radiation in deep space long duration missions is the show stopper. Langley has developed state-of-the-art radiation protection and shielding technology for space missions. The payload penalty demands a very stringent requirement on the design of the spacecrafts for human deep space missions. The exploration beyond low Earth orbit (LEO) to enable routine access to more interesting regions of space will require protection from the hazards of the accumulated exposures of space radiation, Galactic Cosmic Rays (GCR) and Solar Particle Events (SPE), and minimizing the production of secondary radiation is a great advantage. The better understanding of radiation environment (GCR & SPE) and their interaction is a key to the success of the program due to the vital role and importance of cosmic rays for space missions.

The Evolution of Deep Space Navigation: 1989-1999

NASA Technical Reports Server (NTRS)

Wood, Lincoln J.

2008-01-01

The exploration of the planets of the solar system using robotic vehicles has been underway since the early 1960s. During this time the navigational capabilities employed have increased greatly in accuracy, as required by the scientific objectives of the missions and as enabled by improvements in technology. This paper is the second in a chronological sequence dealing with the evolution of deep space navigation. The time interval covered extends from the 1989 launch of the Magellan spacecraft to Venus through a multiplicity of planetary exploration activities in 1999. The paper focuses on the observational techniques that have been used to obtain navigational information, propellant-efficient means for modifying spacecraft trajectories, and the computational methods that have been employed, tracing their evolution through a dozen planetary missions.

NASA Space Launch System: A Cornerstone Capability for Exploration

NASA Technical Reports Server (NTRS)

Creech, Stephen D.; Robinson, Kimberly F.

2014-01-01

Under construction today, the National Aeronautics and Space Administration's (NASA) Space Launch System (SLS), managed at the Marshall Space Flight Center, will provide a robust new capability for human and robotic exploration beyond Earth orbit. The vehicle's initial configuration, sched will enable human missions into lunar space and beyond, as well as provide game-changing benefits for space science missions, including offering substantially reduced transit times for conventionally designed spacecraft. From there, the vehicle will undergo a series of block upgrades via an evolutionary development process designed to expedite mission capture as capability increases. The Space Launch System offers multiple benefits for a variety of utilization areas. From a mass-lift perspective, the initial configuration of the vehicle, capable of delivering 70 metric tons (t) to low Earth orbit (LEO), will be the world's most powerful launch vehicle. Optimized for missions beyond Earth orbit, it will also be the world's only exploration-class launch vehicle capable of delivering 25 t to lunar orbit. The evolved configuration, with a capability of 130 t to LEO, will be the most powerful launch vehicle ever flown. From a volume perspective, SLS will be compatible with the payload envelopes of contemporary launch vehicles, but will also offer options for larger fairings with unprecedented volume-lift capability. The vehicle's mass-lift capability also means that it offers extremely high characteristic energy for missions into deep space. This paper will discuss the impacts that these factors - mass-lift, volume, and characteristic energy - have on a variety of mission classes, particularly human exploration and space science. It will address the vehicle's capability to enable existing architectures for deep-space exploration, such as those documented in the Global Exploration Roadmap, a capabilities-driven outline for future deep-space voyages created by the International Space Exploration Coordination Group, which represents 14 of the world's space agencies. In addition, this paper will detail this new rocket's capability to support missions beyond the human exploration roadmap, including robotic precursor missions to other worlds or uniquely high-mass space operation facilities in Earth orbit. As this paper will explain, the SLS Program is currently building a global infrastructure asset that will provide robust space launch capability to deliver sustainable solutions for exploration.

NASA's Space Launch System: A Cornerstone Capability for Exploration

NASA Technical Reports Server (NTRS)

Creech, Stephen D.

2014-01-01

Under construction today, the National Aeronautics and Space Administration's (NASA) Space Launch System (SLS), managed at the Marshall Space Flight Center, will provide a robust new capability for human and robotic exploration beyond Earth orbit. The vehicle's initial configuration, scheduled for first launch in 2017, will enable human missions into lunar space and beyond, as well as provide game-changing benefits for space science missions, including offering substantially reduced transit times for conventionally designed spacecraft. From there, the vehicle will undergo a series of block upgrades via an evolutionary development process designed to expedite mission capture as capability increases. The Space Launch System offers multiple benefits for a variety of utilization areas. From a mass-lift perspective, the initial configuration of the vehicle, capable of delivering 70 metric tons (t) to low Earth orbit (LEO), will be the world's most powerful launch vehicle. Optimized for missions beyond Earth orbit, it will also be the world's only exploration-class launch vehicle capable of delivering 25 t to lunar orbit. The evolved configuration, with a capability of 130 t to LEO, will be the most powerful launch vehicle ever flown. From a volume perspective, SLS will be compatible with the payload envelopes of contemporary launch vehicles, but will also offer options for larger fairings with unprecedented volume-lift capability. The vehicle's mass-lift capability also means that it offers extremely high characteristic energy for missions into deep space. This paper will discuss the impacts that these factors - mass-lift, volume, and characteristic energy - have on a variety of mission classes, particularly human exploration and space science. It will address the vehicle's capability to enable existing architectures for deep-space exploration, such as those documented in the Global Exploration Roadmap, a capabilities-driven outline for future deep-space voyages created by the International Space Exploration Coordination Group, which represents 12 of the world's space agencies. In addition, this paper will detail this new rocket's capability to support missions beyond the human exploration roadmap, including robotic precursor missions to other worlds or uniquely high-mass space operation facilities in Earth orbit. As this paper will explain, the SLS Program is currently building a global infrastructure asset that will provide robust space launch capability to deliver sustainable solutions for exploration.

Mars Radiation Risk Assessment and Shielding Design for Long-term Exposure to Ionizing Space Radiation

NASA Technical Reports Server (NTRS)

Tripathi, Ram K.; Nealy, John E.

2007-01-01

NASA is now focused on the agency's vision for space exploration encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. As a result, there is a focus on long duration space missions. NASA is committed to the safety of the missions and the crew, and there is an overwhelming emphasis on the reliability issues for space missions and the habitat. The cost-effective design of the spacecraft demands a very stringent requirement on the optimization process. Exposure from the hazards of severe space radiation in deep space and/or long duration missions is a critical design constraint and a potential 'show stopper'. Thus, protection from the hazards of severe space radiation is of paramount importance to the agency's vision. It is envisioned to have long duration human presence on the Moon for deep space exploration. The exposures from ionizing radiation - galactic cosmic radiation and solar particle events - and optimized shield design for a swing-by and a long duration Mars mission have been investigated. It is found that the technology of today is inadequate for safe human missions to Mars, and revolutionary technologies need to be developed for long duration and/or deep space missions. The study will provide a guideline for radiation exposure and protection for long duration missions and career astronauts and their safety.

Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1992-01-01

The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

Challenges and Issues of Radiation Damage Tools for Space Missions

NASA Astrophysics Data System (ADS)

Tripathi, Ram; Wilson, John

2006-04-01

NASA has a new vision for space exploration in the 21st Century encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. Exposure from the hazards of severe space radiation in deep space long duration missions is `the show stopper.' Thus, protection from the hazards of severe space radiation is of paramount importance for the new vision. Accurate risk assessments critically depend on the accuracy of the input information about the interaction of ions with materials, electronics and tissues. A huge amount of essential experimental information for all the ions in space, across the periodic table, for a wide range of energies of several (up to a Trillion) orders of magnitude are needed for the radiation protection engineering for space missions that is simply not available (due to the high costs) and probably never will be. In addition, the accuracy of the input information and database is very critical and of paramount importance for space exposure assessments particularly in view the agency's vision for deep space exploration. The vital role and importance of nuclear physics, related challenges and issues, for space missions will be discussed, and a few examples will be presented for space missions.

Tele-existence and/or cybernetic interface studies in Japan

NASA Technical Reports Server (NTRS)

Tachi, Susumu

1991-01-01

Tele-existence aims at a natural and efficient remote control of robots by providing the operator with a real time sensation of presence. It is an advaced type of teleoperation system which enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in one of the remote anthropomorphic robots in the remote environment, e.g., in a hostile environment such as those of nuclear radiation, high temperature, and deep space. In order to study the use of the tele-existence system in the artificially constructed environment, the visual tele-existence simulator has been designed, a pseudo-real-time binocular solid model robot simulator has been made, and its feasibility has been experimentally evaluated. An anthropomorphic robot mechanism with an arm having seven degrees of freedom has been designed and developed as a slave robot for feasibility experiments of teleoperation using the tele-existence method. An impedance controlled active display mechanism and a head mounted display have also been designed and developed as the display subsystem for the master. The robot's structural dimensions are set very close to those of humans.

Mobility of lightweight robots over snow

NASA Astrophysics Data System (ADS)

Lever, James H.; Shoop, Sally A.

2006-05-01

Snowfields are challenging terrain for lightweight (<50 kg) unmanned ground vehicles. Deep sinkage, high snowcompaction resistance, traction loss while turning and ingestion of snow into the drive train can cause immobility within a few meters of travel. However, for suitably designed vehicles, deep snow offers a smooth, uniform surface that can obliterate obstacles. Key requirements for good over-snow mobility are low ground pressure, large clearance relative to vehicle size and a drive system that tolerates cohesive snow. A small robot will invariably encounter deep snow relative to its ground clearance. Because a single snowstorm can easily deposit 30 cm of fresh snow, robots with ground clearance less than about 10 cm must travel over the snow rather than gain support from the underlying ground. This can be accomplished using low-pressure tracks (< 1.5 kPa). Even still, snow-compaction resistance can exceed 20% of vehicle weight. Also, despite relatively high traction coefficients for low track pressures, differential or skid steering is difficult because the outboard track can easily break traction as the vehicle attempts to turn against the snow. Short track lengths (relative to track separation) or coupled articulated robots offer steering solutions for deep snow. This paper presents preliminary guidance to design lightweight robots for good mobility over snow based on mobility theory and tests of PackBot, Talon and SnoBot, a custom-designed research robot. Because many other considerations constrain robot designs, this guidance can help with development of winterization kits to improve the over-snow performance of existing robots.

A Lunar L2-Farside Exploration and Science Mission Concept with the ORion Multi-Purpose Crew Vehicle and a Teleoperated Lander/Rover

NASA Technical Reports Server (NTRS)

Burns, Jack O.; Kring, David; Norris, Scott; Hopkins, Josh; Lazio, Joseph; Kasper, Justin

2012-01-01

A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In an L2 halo orbit above the lunar farside, the astronauts would travel 15% farther from Earth than did the Apollo astronauts and spend almost three times longer in deep space. Such missions would validate the Orion MPCV's life support systems, would demonstrate the high-speed re-entry capability needed for return from deep space, and would measure astronauts' radiation dose from cosmic rays and solar flares to verify that Orion would provide sufficient protection, as it is designed to do. On this proposed mission, the astronauts would teleoperate landers and rovers on the unexplored lunar farside, which would obtain samples from the geologically interesting farside and deploy a low radio frequency telescope. Sampling the South Pole-Aitkin basin (one of the oldest impact basins in the solar system) is a key science objective of the 2011 Planetary Science Decadal Survey. Observations of the Universe's first stars/galaxies at low radio frequencies are a priority of the 2010 Astronomy & Astrophysics Decadal Survey. Such telerobotic oversight would also demonstrate capability for human and robotic cooperation on future, more complex deep space missions.

Space Station technology testbed: 2010 deep space transport

NASA Technical Reports Server (NTRS)

Holt, Alan C.

1993-01-01

A space station in a crew-tended or permanently crewed configuration will provide major R&D opportunities for innovative, technology and materials development and advanced space systems testing. A space station should be designed with the basic infrastructure elements required to grow into a major systems technology testbed. This space-based technology testbed can and should be used to support the development of technologies required to expand our utilization of near-Earth space, the Moon and the Earth-to-Jupiter region of the Solar System. Space station support of advanced technology and materials development will result in new techniques for high priority scientific research and the knowledge and R&D base needed for the development of major, new commercial product thrusts. To illustrate the technology testbed potential of a space station and to point the way to a bold, innovative approach to advanced space systems' development, a hypothetical deep space transport development and test plan is described. Key deep space transport R&D activities are described would lead to the readiness certification of an advanced, reusable interplanetary transport capable of supporting eight crewmembers or more. With the support of a focused and highly motivated, multi-agency ground R&D program, a deep space transport of this type could be assembled and tested by 2010. Key R&D activities on a space station would include: (1) experimental research investigating the microgravity assisted, restructuring of micro-engineered, materials (to develop and verify the in-space and in-situ 'tuning' of materials for use in debris and radiation shielding and other protective systems), (2) exposure of microengineered materials to the space environment for passive and operational performance tests (to develop in-situ maintenance and repair techniques and to support the development, enhancement, and implementation of protective systems, data and bio-processing systems, and virtual reality and telepresence/kinetic processes), (3) subsystem tests of advanced nuclear power, nuclear propulsion and communication systems (using boom extensions, remote station-keeping platforms and mobile EVA crew and robots), and (4) logistics support (crew and equipment) and command and control of deep space transport assembly, maintenance, and refueling (using a station-keeping platform).

Low Cost Electric Propulsion Thruster for Deep Space Robotic Science Missions

NASA Technical Reports Server (NTRS)

Manzella, David

2008-01-01

Electric Propulsion (EP) has found widespread acceptance by commercial satellite providers for on-orbit station keeping due to the total life cycle cost advantages these systems offer. NASA has also sought to benefit from the use of EP for primary propulsion onboard the Deep Space-1 and DAWN spacecraft. These applications utilized EP systems based on gridded ion thrusters, which offer performance unequaled by other electric propulsion thrusters. Through the In-Space Propulsion Project, a lower cost thruster technology is currently under development designed to make electric propulsion intended for primary propulsion applications cost competitive with chemical propulsion systems. The basis for this new technology is a very reliable electric propulsion thruster called the Hall thruster. Hall thrusters, which have been flown by the Russians dating back to the 1970s, have been used by the Europeans on the SMART-1 lunar orbiter and currently employed by 15 other geostationary spacecraft. Since the inception of the Hall thruster, over 100 of these devices have been used with no known failures. This paper describes the latest accomplishments of a development task that seeks to improve Hall thruster technology by increasing its specific impulse, throttle-ability, and lifetime to make this type of electric propulsion thruster applicable to NASA deep space science missions. In addition to discussing recent progress on this task, this paper describes the performance and cost benefits projected to result from the use of advanced Hall thrusters for deep space science missions.

[Robotic-assisted laparoscopy for deep infiltrating endometriosis: the Register of the Society of European Robotic Gynaecological Surgery].

PubMed

Hanssens, S; Nisolle, M; Leguevaque, P; Neme, R M; Cela, V; Barton-Smith, P; Hébert, T; Collinet, P

2014-11-01

To assess the interest of robotic-assisted laparoscopy in the context of deep infiltrating endometriosis and to investigate perioperative results. From November 2008 to April 2012, 164 women with stage IV endometriosis who underwent robotic-assisted laparoscopy (DA VINCI Intuitive Surgical System(®)) were included by eight international participating clinical centers. Patients were divided in 4 groups according to the localization of the nodule(s): rectum (n=88), bladder (n=23), ureter and uterosacral ligaments (n=115) et hysterectomy (n=28). We evaluated the procedures performed, the duration of intervention, the complications, the recurrence and the impact on fertility. In the rectum group, there was a laparotomy conversion, 2 sutured rectal injuries and a red cells blood transfusion. In the bladder group, there was a vesicovaginal hematoma and a prolongated intermittent self-catheterization. In the ureter and uterosacral ligaments group, there was 2 ureteral fistulas and there was no complication in the hysterectomy group. This study is the largest series published in the literature on robotic-assisted laparoscopy for deep infiltrating endometriosis. The interest of robotic-assisted laparoscopy in deep infiltrating endometriosis seems to be promising while no increase in surgical time, blood loss, and intra- and postoperative complications were observed. Copyright © 2014 Elsevier Masson SAS. All rights reserved.

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

NASA Astrophysics Data System (ADS)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

Rationale and Roadmap for Moon Exploration

NASA Astrophysics Data System (ADS)

Foing, B. H.; ILEWG Team

We discuss the different rationale for Moon exploration. This starts with areas of scientific investigations: clues on the formation and evolution of rocky planets, accretion and bombardment in the inner solar system, comparative planetology processes (tectonic, volcanic, impact cratering, volatile delivery), records astrobiology, survival of organics; past, present and future life. The rationale includes also the advancement of instrumentation: Remote sensing miniaturised instruments; Surface geophysical and geochemistry package; Instrument deployment and robotic arm, nano-rover, sampling, drilling; Sample finder and collector. There are technologies in robotic and human exploration that are a drive for the creativity and economical competitivity of our industries: Mecha-electronics-sensors; Tele control, telepresence, virtual reality; Regional mobility rover; Autonomy and Navigation; Artificially intelligent robots, Complex systems, Man-Machine interface and performances. Moon-Mars Exploration can inspire solutions to global Earth sustained development: In-Situ Utilisation of resources; Establishment of permanent robotic infrastructures, Environmental protection aspects; Life sciences laboratories; Support to human exploration. We also report on the IAA Cosmic Study on Next Steps In Exploring Deep Space, and ongoing IAA Cosmic Studies, ILEWG/IMEWG ongoing activities, and we finally discuss possible roadmaps for robotic and human exploration, starting with the Moon-Mars missions for the coming decade, and building effectively on joint technology developments.

Near-Earth Objects: Targets for Future Human Exploration, Solar System Science, and Planetary Defense

NASA Technical Reports Server (NTRS)

Abell, Paul A.

2011-01-01

Human exploration of near-Earth objects (NEOs) beginning circa 2025 - 2030 is one of the stated objectives of U.S. National Space Policy. Piloted missions to these bodies would further development of deep space mission systems and technologies, obtain better understanding of the origin and evolution of our Solar System, and support research for asteroid deflection and hazard mitigation strategies. This presentation will discuss some of the physical characteristics of NEOs and review some of the current plans for NEO research and exploration from both a human and robotic mission perspective.

Telerobotics for Human Exploration: Enhancing Crew Capabilities in Deep Space

NASA Technical Reports Server (NTRS)

Fong, Terrence

2013-01-01

Future space missions in Earth orbit, to the Moon, and to other distant destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible or efficient for humans to perform manually. Telerobots, however, can complement human explorers, performing work under remote control from Earth, orbit or nearby habitats. A central challenge, therefore, is to understand how humans and remotely operated robots can be jointly employed to maximize mission performance and success. This presentation provides an overview of the key issues with using telerobots for human exploration.

Teleoperation support for early human planetary missions.

PubMed

Genta, Giancarlo; Perino, Maria Antonietta

2005-12-01

A renewed interest in human exploration is flourishing among all the major spacefaring nations. In fact, in the complex scene of planned future space activities, the development of a Moon base and the human exploration of Mars might have the potential to renew the enthusiasm in expanding the human presence beyond the boundaries of Earth. Various initiatives have been undertaken to define scenarios and identify the required infrastructures and related technology innovations. The typical proposed approach follows a multistep strategy, starting with a series of precursor robotic missions to acquire further knowledge of the planet and to select the best potential landing sites, and evolving toward more demanding missions for the development of a surface infrastructure necessary to sustain human presence. The technologies involved in such a demanding enterprise range from typical space technologies, like transportation and propulsion, automation and robotics, rendezvous and docking, entry/reentry, aero-braking, navigation, and deep space communications, to human-specific issues like physiology, psychology, behavioral aspects, and nutritional science for long-duration exposure, that go beyond the traditional boundaries of space activities. Among the required elements to support planetary exploration, both for the precursor robotic missions and to sustain human exploration, rovers and trucks play a key role. A robust level of autonomy will need to be secured to perform preplanned operations, particularly for the surface infrastructure development, and a teleoperated support, either from Earth or from a local base, will enhance the in situ field exploration capability.

NASA Technology Area 07: Human Exploration Destination Systems Roadmap

NASA Technical Reports Server (NTRS)

Kennedy, Kriss J.; Alexander, Leslie; Landis, Rob; Linne, Diane; Mclemore, Carole; Santiago-Maldonado, Edgardo; Brown, David L.

2011-01-01

This paper gives an overview of the National Aeronautics and Space Administration (NASA) Office of Chief Technologist (OCT) led Space Technology Roadmap definition efforts. This paper will given an executive summary of the technology area 07 (TA07) Human Exploration Destination Systems (HEDS). These are draft roadmaps being reviewed and updated by the National Research Council. Deep-space human exploration missions will require many game changing technologies to enable safe missions, become more independent, and enable intelligent autonomous operations and take advantage of the local resources to become self-sufficient thereby meeting the goal of sustained human presence in space. Taking advantage of in-situ resources enhances and enables revolutionary robotic and human missions beyond the traditional mission architectures and launch vehicle capabilities. Mobility systems will include in-space flying, surface roving, and Extra-vehicular Activity/Extravehicular Robotics (EVA/EVR) mobility. These push missions will take advantage of sustainability and supportability technologies that will allow mission independence to conduct human mission operations either on or near the Earth, in deep space, in the vicinity of Mars, or on the Martian surface while opening up commercialization opportunities in low Earth orbit (LEO) for research, industrial development, academia, and entertainment space industries. The Human Exploration Destination Systems (HEDS) Technology Area (TA) 7 Team has been chartered by the Office of the Chief Technologist (OCT) to strategically roadmap technology investments that will enable sustained human exploration and support NASA s missions and goals for at least the next 25 years. HEDS technologies will enable a sustained human presence for exploring destinations such as remote sites on Earth and beyond including, but not limited to, LaGrange points, low Earth orbit (LEO), high Earth orbit (HEO), geosynchronous orbit (GEO), the Moon, near-Earth objects (NEOs), which > 95% are asteroidal bodies, Phobos, Deimos, Mars, and beyond. The HEDS technology roadmap will strategically guide NASA and other U.S. Government agency technology investments that will result in capabilities enabling human exploration missions to diverse destinations generating high returns on investments.

Habitat Concepts for Deep Space Exploration

NASA Technical Reports Server (NTRS)

Smitherman, David; Griffin, Brand N.

2014-01-01

Future missions under consideration requiring human habitation beyond the International Space Station (ISS) include deep space habitats in the lunar vicinity to support asteroid retrieval missions, human and robotic lunar missions, satellite servicing, and Mars vehicle servicing missions. Habitat designs are also under consideration for missions beyond the Earth-Moon system, including transfers to near-Earth asteroids and Mars orbital destinations. A variety of habitat layouts have been considered, including those derived from the existing ISS designs and those that could be fabricated from the Space Launch System (SLS) propellant tanks. This paper presents a comparison showing several options for asteroid, lunar, and Mars mission habitats using ISS derived and SLS derived modules and identifies some of the advantages and disadvantages inherent in each. Key findings indicate that the larger SLS diameter modules offer built-in compatibility with the launch vehicle, single launch capability without on-orbit assembly, improved radiation protection, lighter structures per unit volume, and sufficient volume to accommodate consumables for long duration missions without resupply. The information provided with the findings includes mass and volume comparison data that should be helpful to future exploration mission planning efforts.

KSC-03pd1385

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A team onboard the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance, get ready to lower underwater research equipment into the water. An undersea expedition is underway to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1384

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater research equipment is prepared for immersion from the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance. It is being used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

Study of robotics systems applications to the space station program

NASA Technical Reports Server (NTRS)

Fox, J. C.

1983-01-01

Applications of robotics systems to potential uses of the Space Station as an assembly facility, and secondarily as a servicing facility, are considered. A typical robotics system mission is described along with the pertinent application guidelines and Space Station environmental assumptions utilized in developing the robotic task scenarios. A functional description of a supervised dual-robot space structure construction system is given, and four key areas of robotic technology are defined, described, and assessed. Alternate technologies for implementing the more routine space technology support subsystems that will be required to support the Space Station robotic systems in assembly and servicing tasks are briefly discussed. The environmental conditions impacting on the robotic configuration design and operation are reviewed.

Asteroid Redirect Mission Concept: A Bold Approach for Utilizing Space Resources

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Merrill, Raymond G.; Brophy, John R.; Mueller, Robert P.

2014-01-01

The utilization of natural resources from asteroids is an idea that is older than the Space Age. The technologies are now available to transform this endeavour from an idea into reality. The Asteroid Redirect Mission (ARM) is a mission concept which includes the goal of robotically returning a small Near-Earth Asteroid (NEA) or a multi-ton boulder from a large NEA to cislunar space in the mid 2020's using an advanced Solar Electric Propulsion (SEP) vehicle and currently available technologies. The paradigm shift enabled by the ARM concept would allow in-situ resource utilization (ISRU) to be used at the human mission departure location (i.e., cislunar space) versus exclusively at the deep-space mission destination. This approach drastically reduces the barriers associated with utilizing ISRU for human deep-space missions. The successful testing of ISRU techniques and associated equipment could enable large-scale commercial ISRU operations to become a reality and enable a future space-based economy utilizing processed asteroidal materials. This paper provides an overview of the ARM concept and discusses the mission objectives, key technologies, and capabilities associated with the mission, as well as how the ARM and associated operations would benefit humanity's quest for the exploration and settlement of space.

Human Flight to Lunar and Beyond - Re-Learning Operations Paradigms

NASA Technical Reports Server (NTRS)

Kenny, Edward (Ted); Statman, Joseph

2016-01-01

For the first time since the Apollo era, NASA is planning on sending astronauts on flights beyond LEO. The Human Space Flight (HSF) program started with a successful initial flight in Earth orbit, in December 2014. The program will continue with two Exploration Missions (EM): EM-1 will be unmanned and EM-2, carrying astronauts, will follow. NASA established a multi-center team to address the communications, and related tacking/navigation needs. This paper will focus on the lessons learned by the team designing the architecture and operations for the missions. Many of these Beyond Earth Orbit lessons had to be re-learned, as the HSF program has operated for many years in Earth orbit. Unlike the Apollo missions that were largely tracked by a dedicated ground network, the HSF planned missions will be tracked (at distances beyond GEO) by the DSN, a network that mostly serves robotic missions. There have been surprising challenges to the DSN as unique modern human spaceflight needs stretch the experience base beyond that of tracking robotic missions in deep space. Close interaction between the DSN and the HSF community to understand the unique needs (e.g. 2-way voice) resulted in a Concept of Operations (ConOps) that leverages both the deep space robotic and the Human LEO experiences. Several examples will be used to highlight the unique challenges the team faced in establishing the communications and tracking capabilities for HSF missions beyond Earth Orbit, including: Navigation. At LEO, HSF missions can rely on GPS devices for orbit determination. For Lunar-and-beyond HSF missions, techniques such as precision 2-way and 3-way Doppler and ranging, Delta-Difference-of-range, and eventually possibly on-board navigation will be used. At the same time, HSF presents a challenge to navigators, beyond those presented by robotic missions - navigating a dynamic/"noisy" spacecraft. Impact of latency - the delay associated with Round-Trip-Light-Time (RTLT). Imagine trying to have a 2-way discussion (audio or video) with an astronaut, with a 2-3 sec or more delay inserted (for lunar distances) or 20 minutes delay (for Mars distances). Balanced communications link. For robotic missions, there has been a heavy emphasis on higher downlink data rates, e.g. bringing back science data. Higher uplink data rates were of secondary importance, as uplink was used only to send commands (and occasionally small files) to the spacecraft. The ratio of downlink-to-uplink data rates was often 10:1 or more. For HSF, a continuous forward link is established and rates for uplink and downlink are more similar.

Connecting Robots and Humans in Mars Exploration

NASA Astrophysics Data System (ADS)

Friedman, Louis

2000-07-01

Mars exploration is a very special public interest. It's preeminence in the national space policy calling for "sustained robotic presence on the surface," international space policy (witness the now aborted international plan for sample return, and also aborted Russian "national Mars program") and the media attention to Mars exploration are two manifestations of that interest. Among a large segment of the public there is an implicit (mis)understanding that we are sending humans to Mars. Even among those who know that isn't already a national or international policy, many think it is the next human exploration goal. At the same time the resources for Mars exploration in the U.S. and other country's space programs are a very small part of space budgets. Very little is being applied to direct preparations for human flight. This was true before the 1999 mission losses in the United States, and it is more true today. The author's thesis is that the public interest and the space program response to Mars exploration are inconsistent. This inconsistency probably results from an explicit space policy contradiction: Mars exploration is popular because of the implicit pull of Mars as the target for human exploration, but no synergy is permitted between the human and robotic programs to carry out the program. It is not permitted because of narrow, political thinking. In this paper we try to lay out the case for overcoming that thinking, even while not committing to any premature political initiative. This paper sets out a rationale for Mars exploration and uses it to then define recommended elements of the programs: missions, science objectives, technology. That consideration is broader than the immediate issue of recovering from the failures of Mars Climate OrbIter, Mars Polar Lander and the Deep Space 2 microprobes in late 1999. But we cannot ignore those failures. They are causing a slow down Mars exploration. Not only were the three missions lost, with their planned science and technology investigations, but the 2001 Mars Surveyor lander; and an international cooperative effort for robotic Mars sample return were also lost.

A Modular Soft Robotic Wrist for Underwater Manipulation.

PubMed

Kurumaya, Shunichi; Phillips, Brennan T; Becker, Kaitlyn P; Rosen, Michelle H; Gruber, David F; Galloway, Kevin C; Suzumori, Koichi; Wood, Robert J

2018-04-19

This article presents the development of modular soft robotic wrist joint mechanisms for delicate and precise manipulation in the harsh deep-sea environment. The wrist consists of a rotary module and bending module, which can be combined with other actuators as part of a complete manipulator system. These mechanisms are part of a suite of soft robotic actuators being developed for deep-sea manipulation via submersibles and remotely operated vehicles, and are designed to be powered hydraulically with seawater. The wrist joint mechanisms can also be activated with pneumatic pressure for terrestrial-based applications, such as automated assembly and robotic locomotion. Here we report the development and characterization of a suite of rotary and bending modules by varying fiber number and silicone hardness. Performance of the complete soft robotic wrist is demonstrated in normal atmospheric conditions using both pneumatic and hydraulic pressures for actuation and under high ambient hydrostatic pressures equivalent to those found at least 2300 m deep in the ocean. This rugged modular wrist holds the potential to be utilized at full ocean depths (>10,000 m) and is a step forward in the development of jointed underwater soft robotic arms.

A Survey of Space Robotics

NASA Technical Reports Server (NTRS)

Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

2003-01-01

In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

An Update on the CCSDS Optical Communications Working Group

NASA Technical Reports Server (NTRS)

Edwards, Bernard L.; Schulz, Klaus-Juergen; Hamkins, Jonathan; Robinson, Bryan; Alliss, Randall; Daddato, Robert; Schmidt, Christopher; Giggebach, Dirk; Braatz, Lena

2017-01-01

International space agencies around the world are currently developing optical communication systems for Near Earth and Deep Space applications for both robotic and human rated spacecraft. These applications include both links between spacecraft and links between spacecraft and ground. The Interagency Operation Advisory Group (IOAG) has stated that there is a strong business case for international cross support of spacecraft optical links. It further concluded that in order to enable cross support the links must be standardized. This paper will overview the history and structure of the space communications international standards body, the Consultative Committee for Space Data Systems (CCSDS), that will develop the standards and provide an update on the proceedings of the Optical Communications Working Group within CCSDS. This paper will also describe the set of optical communications standards being developed and outline some of the issues that must be addressed in the next few years. The paper will address in particular the ongoing work on application scenarios for deep space to ground called High Photon Efficiency, for LEO to ground called Low Complexity, for inter-satellite and near Earth to ground called High Data Rate, as well as associated atmospheric measurement techniques and link operations concepts.

Management of deep infiltrating endometriosis by laparoscopic route with robotic assistance: 3-year experience.

PubMed

Abo, C; Roman, H; Bridoux, V; Huet, E; Tuech, J-J; Resch, B; Stochino, E; Marpeau, L; Darwish, B

2017-01-01

To assess the feasibility of deep endometriosis surgery using robotic assistance, benefits and limits of this approach. Case-series study enrolling patients managed for deep infiltrating endometriosis (DIE) using robotic assistance in our department between September 2011 and March 2014 (NCT02294825). Self-questionnaires including pain and digestive symptoms were filled in preoperatively and 1 year after surgery. Thirty-five patients were enrolled in the series. They represented 54% of patients managed for gynecological disease by laparoscopic route with robotic assistance during the study period, and 14% of patients managed for deep endometriosis in our department. Follow-up averaged 24±8 months, and no patient was lost to follow-up. Thirty-two patients had rectal involvement: rectal shaving was performed in 25 patients, disc excision in 3 and colorectal resection in 4. Three patients had bladder resection. Thirteen patients presented with deep endometriosis of the ureters: ureterolysis was performed in 11 of them, and resection of the ureter followed by reimplantation into the bladder in 2 patients. One major complication (Clavien IIIb) was recorded in a patient presenting with necrosis of the right ureter on postoperative day 5. Nine patients tried to conceive after surgery and 8 have already become pregnant (88.9%). One year after surgery, self-questionnaires revealed a significant decrease in pain symptoms and significant improvement in several item values of gastrointestinal standardized questionnaires. Surgical management of DIE is feasible using robotic assistance. However, data available in the literature and our own experience do not definitively support the hypothesis of the superiority of robotic assistance in the management of DIE. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

MOS 2.0: Modeling the Next Revolutionary Mission Operations System

NASA Technical Reports Server (NTRS)

Delp, Christopher L.; Bindschadler, Duane; Wollaeger, Ryan; Carrion, Carlos; McCullar, Michelle; Jackson, Maddalena; Sarrel, Marc; Anderson, Louise; Lam, Doris

2011-01-01

Designed and implemented in the 1980's, the Advanced Multi-Mission Operations System (AMMOS) was a breakthrough for deep-space NASA missions, enabling significant reductions in the cost and risk of implementing ground systems. By designing a framework for use across multiple missions and adaptability to specific mission needs, AMMOS developers created a set of applications that have operated dozens of deep-space robotic missions over the past 30 years. We seek to leverage advances in technology and practice of architecting and systems engineering, using model-based approaches to update the AMMOS. We therefore revisit fundamental aspects of the AMMOS, resulting in a major update to the Mission Operations System (MOS): MOS 2.0. This update will ensure that the MOS can support an increasing range of mission types, (such as orbiters, landers, rovers, penetrators and balloons), and that the operations systems for deep-space robotic missions can reap the benefits of an iterative multi-mission framework.12 This paper reports on the first phase of this major update. Here we describe the methods and formal semantics used to address MOS 2.0 architecture and some early results. Early benefits of this approach include improved stakeholder input and buy-in, the ability to articulate and focus effort on key, system-wide principles, and efficiency gains obtained by use of well-architected design patterns and the use of models to improve the quality of documentation and decrease the effort required to produce and maintain it. We find that such methods facilitate reasoning, simulation, analysis on the system design in terms of design impacts, generation of products (e.g., project-review and software-delivery products), and use of formal process descriptions to enable goal-based operations. This initial phase yields a forward-looking and principled MOS 2.0 architectural vision, which considers both the mission-specific context and long-term system sustainability.

Exploring the Feasibility of Electrostatic Shielding for Spacecrafts

NASA Technical Reports Server (NTRS)

Tripathi, R. K.; Wilson, J. W.; Youngquist, R. C.

2005-01-01

NASA is moving forward towards the agency's new vision for space exploration in the 21st Century encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. Exposure from the hazards of severe space radiation in deep space long duration missions is the show stopper. Langley has developed state-of-the-art radiation protection and shielding technology for space missions. The payload penalty demands a very stringent requirement on the design of the spacecrafts for human deep space missions. The exploration beyond low Earth orbit (LEO) to enable routine access to more interesting regions of space will require protection from the hazards of the accumulated exposures of space radiation, Galactic Cosmic Rays (GCR) and Solar Particle Events (SPE), and minimizing the production of secondary radiation is a great advantage. There is a need to look to new horizons for newer technologies. The present investigation explores the feasibility of using electrostatic shielding in concert with innovative materials shielding and protection technologies. The asymmetries of the radiation shielding problem would be exploited in the electrostatics shielding process. The goal is to repel enough positive charge ions so that they miss the spacecraft without attracting thermal electrons. Conclusions are drawn about the advantages the electrostatic shielding, should it be successful, would bring to the radiation protection design process.

Systems autonomy technology: Executive summary and program plan

NASA Technical Reports Server (NTRS)

Bull, John S (Editor)

1987-01-01

The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

News and Views: Space technology in the oil industry; OU to play role in next stage of Mars exploration; Viking revisited; Wish you were here? GOCE gets going again

NASA Astrophysics Data System (ADS)

2010-10-01

The troubles flowing from BP's Macondo oil well in Gulf of Mexico have focused attention on the technological demands of safe deep-water drilling. European Space Agency research presented in a Space and Energy Seminar in August offers spin-off technologies that could support oil exploration and production in extreme environments, from corrosion control to better robotics. NASA and the European Space Agency have embarked on a joint programme to study the chemical composition of the atmosphere of Mars from 2016. They have just announced the providers of five scientific instruments for the first mission, including two consortia in which the Open University has a major role.

Research on Equivalent Tests of Dynamics of On-orbit Soft Contact Technology Based on On-Orbit Experiment Data

NASA Astrophysics Data System (ADS)

Yang, F.; Dong, Z. H.; Ye, X.

2018-05-01

Currently, space robots have been become a very important means of space on-orbit maintenance and support. Many countries are taking deep research and experiment on this. Because space operation attitude is very complicated, it is difficult to model them in research lab. This paper builds up a complete equivalent experiment framework according to the requirement of proposed space soft-contact technology. Also, this paper carries out flexible multi-body dynamics parameters verification for on-orbit soft-contact mechanism, which combines on-orbit experiment data, the built soft-contact mechanism equivalent model and flexible multi-body dynamics equivalent model that is based on KANE equation. The experiment results approve the correctness of the built on-orbit soft-contact flexible multi-body dynamics.

Destination Deimos: A Design Reference Architecture for Initial Human Exploration of the Mars System

NASA Technical Reports Server (NTRS)

Logan, James S.; Adamo, D. R.

2011-01-01

The two biggest challenges to successful human operations in interplanetary space are flight dynamics, constrained by the cold hard physics of the rocket equation, and bioastronautics, the psychophysiological realities of human adaptation, or lack thereof, to the deep space environment. Without substantial innovation in project/mission architecture and vehicle design, human exploration of the Mars system could be problematic for decades. Although a human landing on Mars is inevitable, humans-in-the-loop telerobotic exploration from the outer Martian moon Deimos is the best way to begin. Precursor robotic missions for reconnaissance and local site preparation will be required.

A Multi-Center Space Data System Prototype Based on CCSDS Standards

NASA Technical Reports Server (NTRS)

Rich, Thomas M.

2016-01-01

Deep space missions beyond earth orbit will require new methods of data communications in order to compensate for increasing Radio Frequency (RF) propagation delay. The Consultative Committee for Space Data Systems (CCSDS) standard protocols Spacecraft Monitor & Control (SM&C), Asynchronous Message Service (AMS), and Delay/Disruption Tolerant Networking (DTN) provide such a method. However, the maturity level of this protocol stack is insufficient for mission inclusion at this time. This Space Data System prototype is intended to provide experience which will raise the Technical Readiness Level (TRL) of this protocol set. In order to reduce costs, future missions can take advantage of these standard protocols, which will result in increased interoperability between control centers. This prototype demonstrates these capabilities by implementing a realistic space data system in which telemetry is published to control center applications at the Jet Propulsion Lab (JPL), the Marshall Space Flight Center (MSFC), and the Johnson Space Center (JSC). Reverse publishing paths for commanding from each control center are also implemented. The target vehicle consists of realistic flight computer hardware running Core Flight Software (CFS) in the integrated Power, Avionics, and Power (iPAS) Pathfinder Lab at JSC. This prototype demonstrates a potential upgrade path for future Deep Space Network (DSN) modification, in which the automatic error recovery and communication gap compensation capabilities of DTN would be exploited. In addition, SM&C provides architectural flexibility by allowing new service providers and consumers to be added efficiently anywhere in the network using the common interface provided by SM&C's Message Abstraction Layer (MAL). In FY 2015, this space data system was enhanced by adding telerobotic operations capability provided by the Robot API Delegate (RAPID) family of protocols developed at NASA. RAPID is one of several candidates for consideration and inclusion in a new international standard being developed by the CCSDS Telerobotic Operations Working Group. Software gateways for the purpose of interfacing RAPID messages with the existing SM&C based infrastructure were developed. Telerobotic monitor, control, and bridge applications were written in the RAPID framework, which were then tailored to the NAO telerobotic test article hardware, a product of Aldebaran Robotics.

Functional Contour-following via Haptic Perception and Reinforcement Learning.

PubMed

Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J

2018-01-01

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards by balancing exploration versus exploitation of the state-action space. The C-MAB learner outperformed a benchmark Q-learner by more efficiently exploring the state-action space while learning a hard-to-code task. The learned C-MAB policy was tested with novel ziplock bag scenarios and contours (wire, rope). Importantly, this work contributes to the development of reinforcement learning approaches that account for limited resources such as hardware life and researcher time. As robots are used to perform complex, physically interactive tasks in unstructured or unmodeled environments, it becomes important to develop methods that enable efficient and effective learning with physical testbeds.

Robotics technology developments in the United States space telerobotics program

NASA Technical Reports Server (NTRS)

Lavery, David

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

KSC-2011-5243

NASA Image and Video Library

2011-07-08

CAPE CANAVERAL, Fla. -- A media event was held for the Multi-Purpose Crew Vehicle (MPCV) that was on display in a tent on the grounds of the Press Site at NASA's Kennedy Space Center in Florida during launch activities for space shuttle Atlantis' STS-135 mission to the International Space Station. The MPCV is based on the Orion design requirements for traveling beyond low Earth orbit and will serve as the exploration vehicle that will carry the crew to space, provide emergency abort capability, sustain the crew during the space travel, and provide safe re-entry from deep space return velocities. Atlantis began its final flight, with Commander Chris Ferguson, Pilot Doug Hurley and Mission Specialists Sandy Magnus and Rex Walheim on board, at 11:29 a.m. EDT July 8 to deliver the Raffaello multi-purpose logistics module packed with supplies and spare parts to the station. Also in Atlantis' payload bay is the Robotic Refueling Mission experiment that will investigate the potential for robotically refueling existing satellites in orbit. In addition, Atlantis will return with a failed ammonia pump module to help NASA better understand the failure mechanism and improve pump designs for future systems. STS-135 is the 33rd flight of Atlantis, the 37th shuttle mission to the space station, and the 135th and final mission of NASA's Space Shuttle Program. For more information, visit www.nasa.gov/mission_pages/shuttle/shuttlemissions/sts135/index.html. Photo credit: NASA/Jim Grossmann

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Space-Data Routers: Enhancing Deep Space communications for scientific data transmission and exploitation from Mars through Space Internetworking

NASA Astrophysics Data System (ADS)

Sykioti, Olga; Daglis, Ioannis; Rontogiannis, Athanasios; Tsaoussidis, Vassilis; Diamantopoulos, Sotirios

2014-05-01

Dissemination and exploitation of data from Deep Space missions, such as planetary missions, face two major impediments: limited access capabilities due to narrow connectivity window via satellites (thus, resulting to confined scientific capacity) and lack of sufficient communication and dissemination mechanisms between deep space missions such the current missions to Mars, space data receiving centers, space-data collection centers and the end-user community. Although large quantities of data have to be transferred from deep space to the operation centers and then to the academic foundations and research centers, due to the aforementioned impediments more and more stored space data volumes remain unexploited, until they become obsolete or useless and are consequently removed. In the near future, these constraints on space and ground segment resources will rapidly increase due to the launch of new missions. The Space-Data Routers (SDR) project aims into boosting collaboration and competitiveness between the European Space Agency, the European Space Industry and the European Academic Institutions towards meeting these new challenges through Space Internetworking. Space internetworking gradually replaces or assists traditional telecommunication protocols. Future deep space operations, such as those to Mars, are scheduled to be more dynamic and flexible; many of the procedures, which are now human-operated, will become automated, interoperable and collaborative. As a consequence, space internetworking will bring a revolution in space communications. For this purpose, one of the main scientific objectives of the project is, through the examination of a specific scenario, the enhanced transmission and dissemination of Deep Space data from Mars, through unified communication channels. Specifically, the scenario involves enhanced data transmission acquired by the OMEGA sensor on-board ESA's Mars Express satellite. We consider two separate issues considering the capabilities of SDR in terms of (i) augmenting the data volume received from the Mars Express, through the increase of the spacecraft's connectivity with the Earth ground receiving stations and in terms of (ii) increasing the user's access speed to the OMEGA scientific data. Especially for the first, we test alternative scenarios for augmenting the data volume received specifically from OMEGA, through the enhancement of the spacecraft's connectivity with ground receiving stations. Simulation results have proven the potential of SDR in efficiently meeting the new enhanced challenges in future robotic and human missions to Mars in terms of data transmission and data handling. The work leading to this paper has received funding from the European Union's Seventh Framework Programme (FP7-SPACE-2010-1) under grant agreement no. 263330 for the SDR (Space-Data Routers for Exploiting Space Data) collaborative research project. This paper reflects only the authors' views and the Union is not liable for any use that may be made of the information contained therein.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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.

Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

2015-04-01

Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

Robotic hybrid technique in rectal surgery for deep pelvic endometriosis.

PubMed

Cassini, Diletta; Cerullo, Guido; Miccini, Michelangelo; Manoochehri, Farshad; Ercoli, Alfredo; Baldazzi, Gianandrea

2014-02-01

Deep pelvic endometriosis is a complex disorder that affects 6% to 12% of all women in childbearing age. The incidence of bowel endometriosis ranges between 5.3% and 12%, with rectum and sigma being the most frequently involved tracts, accounting for about 80% of cases. It has been reported that segmental colorectal resection is the best surgical option in terms of recurrence rate and improvement of symptoms. The aim of this study is to analyze indications, feasibility, limits, and short-term results of robotic (Da Vinci Surgical System)-assisted laparoscopic rectal sigmoidectomy for the treatment of deep pelvic endometriosis. Between January 2006 and December 2010, 19 women with bowel endometriosis underwent colorectal resection through the robotic-assisted laparoscopic approach. Intraoperative and postoperative data were collected. All procedures were performed in a single center and short-term complications were evaluated. Nineteen robotic-assisted laparoscopic colorectal resections for infiltrating endometriosis were achieved. Additional procedures were performed in 7 patients (37%). No laparotomic conversion was performed. No intraoperative complications were observed. The mean operative time was 370 minutes (range = 250-720 minutes), and the estimated blood loss was 250 mL (range = 50-350 mL). The overall complication rate was 10% (2 rectovaginal fistulae). Deep pelvic endometriosis is a benign condition but may have substantial impact on quality of life due to severe pelvic symptoms. We believe that robotic-assisted laparoscopic colorectal resection is a feasible and relatively safe procedure in the context of close collaboration between gynecologists and surgeons for treatment of deep pelvic endometriosis with intestinal involvement, with low rates of complications and significant improvement of intestinal symptoms.

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

2015-01-01

NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and near Earth asteroid boulder retrieval; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

2015-01-01

NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

Software for Automation of Real-Time Agents, Version 2

NASA Technical Reports Server (NTRS)

Fisher, Forest; Estlin, Tara; Gaines, Daniel; Schaffer, Steve; Chouinard, Caroline; Engelhardt, Barbara; Wilklow, Colette; Mutz, Darren; Knight, Russell; Rabideau, Gregg;

Modelling cooperation of industrial robots as multi-agent systems

NASA Astrophysics Data System (ADS)

Hryniewicz, P.; Banas, W.; Foit, K.; Gwiazda, A.; Sekala, A.

2017-08-01

Nowadays, more and more often in a cell is more than one robot, there is also a dual arm robots, because of this cooperation of two robots in the same space becomes more and more important. Programming robotic cell consisting of two or more robots are currently performed separately for each element of the robot and the cell. It is performed only synchronization programs, but no robot movements. In such situations often placed industrial robots so they do not have common space so the robots are operated separately. When industrial robots are a common space this space can occupy only one robot the other one must be outside the common space. It is very difficult to find applications where two robots are in the same workspace. It was tested but one robot did not do of movement when moving the second and waited for permission to move from the second when it sent a permit - stop the move. Such programs are very difficult and require a lot of experience from the programmer and must be tested separately at the beginning and then very slowly under control. Ideally, the operator takes care of exactly one robot during the test and it is very important to take special care.

The role of automation and robotics in space stations

NASA Technical Reports Server (NTRS)

Black, D. C.

1985-01-01

Automation and robotics have played important roles in space research, most notably in planetary exploration. While an increased need for automation and robotics in space research is anticipated, some of the major challenges and opportunities for automation and robotics will be provided by the Space Station. Examples of these challenges are briefly reviewed.

Space robotics in Japan

NASA Technical Reports Server (NTRS)

Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

1994-01-01

Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

(Robots in space)—The paper emphasizes the enormous automation impact in industry caused by microelectronics, a "byproduct" of space-technology. The evolutionary stages of robotic are outlined and it is shown that there are a lot of reasons for more automation, artificial intelligence and robotic in space, too. The telemanipulator concept is compared with the industrial robot concept, both showing up an increasing degree of similarity. The state of the art in sensory systems is discussed. By hand of the typical operations needed in space as rendezvous, assembly and docking the required robot skill is indicated. As a conclusion it is stated that the basic technologies available with industrial robots today could solve a lot of space problems. What remains to do—apart of course from ongoing research—is better integration and adaption of industrial techniques to the need of space technology.

KC-135 materials handling robotics

NASA Technical Reports Server (NTRS)

Workman, Gary L.

1991-01-01

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

NASA's Space Launch System: A Transformative Capability for Deep Space Missions

NASA Technical Reports Server (NTRS)

Creech, Stephen D.

2017-01-01

Already making substantial progress toward its first launches, NASA’s Space Launch System (SLS) exploration-class launch vehicle presents game-changing new opportunities in spaceflight, enabling human exploration of deep space, as well as a variety of missions and mission profiles that are currently impossible. Today, the initial configuration of SLS, able to deliver more than 70 metric tons of payload to low Earth orbit (LEO), is well into final production and testing ahead of its planned first flight, which will send NASA’s new Orion crew vehicle around the moon and will deploy 13 CubeSats, representing multiple disciplines, into deep space. At the same time, production work is already underway toward the more-capable Block 1B configuration, planned to debut on the second flight of SLS, and capable of lofting 105 tons to LEO or of co-manifesting large exploration systems with Orion on launches to the lunar vicinity. Progress being made on the vehicle for that second flight includes initial welding of its core stage and testing of one of its engines, as well as development of new elements such as the powerful Exploration Upper Stage and the Universal Stage Adapter “payload bay.” Ultimately, SLS will evolve to a configuration capable of delivering more than 130 tons to LEO to support humans missions to Mars. In order to enable human deep-space exploration, SLS provides unrivaled mass, volume, and departure energy for payloads, offering numerous benefits for a variety of other missions. For robotic science probes to the outer solar system, for example, SLS can cut transit times to less than half that of currently available vehicles or substantially increased spacecraft mass. In the field of astrophysics, SLS’ high payload volume, in the form of payload fairings with a diameter of up to 10 meters, creates the opportunity for launch of large-aperture telescopes providing an unprecedented look at our universe. This presentation will give an overview of SLS’ capabilities and its current status, and discuss the vehicle’s potential for human exploration of deep space and other game-changing utilization opportunities.

Robots in Space -Psychological Aspects

NASA Technical Reports Server (NTRS)

Sipes, Walter E.

2006-01-01

A viewgraph presentation on the psychological aspects of developing robots to perform routine operations associated with monitoring, inspection, maintenance and repair in space is shown. The topics include: 1) Purpose; 2) Vision; 3) Current Robots in Space; 4) Ground Based Robots; 5) AERCam; 6) Rotating Bladder Robot (ROBLR); 7) DART; 8) Robonaut; 9) Full Immersion Telepresence Testbed; 10) ERA; and 11) Psychological Aspects

Astronomy and Space Science from the Moon: Proceedings of Symposium E4 of the COSPAR 29th Plenary Meeting held in Washington, DC, 28 Aug.-5 Sep., 1992

NASA Technical Reports Server (NTRS)

Foing, B. H. (Editor)

1994-01-01

The goal of the conference was to assess the moon as a base for conducting astronomy, solar system observations, and space sciences. The lunar vacuum allows a complete opening of the electromagnetic window and distortion-free measurements at the highest angular resolution, precision, and temporal stability. The moon is perfect for continuous monitoring of the Sun, Solar System targets, and for deep observations of galactic and extragalactic objects. It is an in-situ laboratory for selenophysics, chemistry, and exobiology. The moon contains useful resources and is accessible from Earth for installation, operations maintenance, robotics, and human activities.

Biological Technologies for Life Beyond Low Earth Orbit (BT4LBLEO): Study Introductions and Synopsis

NASA Technical Reports Server (NTRS)

Hines, John W.

2011-01-01

The study will address the following mission concerns: -Extended human presence in the environments of deep space as well as the Moon and Mars will require a solid biological understanding of the integrated effects of diminished gravity, enhanced radiation, and transit- and destination-specific variables from the sub-cellular to the whole organism level. -Biological and associated technologies for biological and robotic precursor missions to realize future objectives for space colonization. -Surfaces, gravity levels, radiation environments, and atmospheres of these nearest neighbors are radically different in chemical and geological make-up from those on our home planet, and all of these contributory effects must be considered.

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Evolutionary Design and Simulation of a Tube Crawling Inspection Robot

NASA Technical Reports Server (NTRS)

Craft, Michael; Howsman, Tom; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

2002-01-01

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.

Robotic surgery twice performed in the treatment of hilar cholangiocarcinoma with deep jaundice: delayed right hemihepatectomy following the right-hepatic vascular control.

PubMed

Zhu, Zhenyu; Liu, Quanda; Chen, Junzhou; Duan, Weihong; Dong, Maosheng; Mu, Peiyuan; Cheng, Di; Che, Honglei; Zhang, Tao; Xu, Xiaoya; Zhou, Ningxin

2014-10-01

To explore and find a new method to treat hilar cholangiocarcinoma with deep jaundice assisted by Da Vinci robot. A hilar cholangiocarcinoma patient of type Bismuch-Corlette IIIa was found with deep jaundice (total bilirubin: 635 µmol/L). On the first admission, we performed Da Vinci robotic surgery including drainage of left hepatic duct, dissection of right hepatic vessels (right portal vein and right hepatic artery), and placement of right-hepatic vascular control device. Three weeks later on the second admission when the jaundice disappeared we occluded right-hepatic vascular discontinuously for 6 days and then sustained later. On the third admission after 3 weeks of right-hepatic vascular control, the right hemihepatectomy was performed by Da Vinci robot for the second time. The future liver remnant after the right-hepatic vascular control increased from 35% to 47%. The volume of left lobe increased by 368 mL. When the total bilirubin and liver function were all normal, right hemihepatectomy was performed by Da Vinci robot 10 weeks after the first operation. The removal of atrophic right hepatic lobe with tumor in bile duct was found with no pathologic cancer remaining in the margin. The patient was followed up at our outpatient clinic every 3 months and no tumor recurrence occurs by now (1 y). Under the Da Vinci robotic surgical system, a programmed treatment can be achieved: first, the hepatic vessels were controlled gradually together with biliary drainage, which results in liver's partial atrophy and compensatory hypertrophy in the other part. Then a radical hepatectomy could be achieved. Such programmed hepatectomy provides a new treatment for patients of hilar cholangiocarcinoma with deep jaundice who have the possibility of radical heptolobectomy.

Research in free-flying robots and flexible manipulators at the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.; Wilson, E.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modeling and control of extremely flexible space structures.

Deep Gate Recurrent Neural Network

DTIC Science & Technology

2016-11-22

Schmidhuber. A system for robotic heart surgery that learns to tie knots using recurrent neural networks. In IEEE International Conference on...tasks, such as Machine Translation (Bahdanau et al. (2015)) or Robot Reinforcement Learning (Bakker (2001)). The main idea behind these networks is to...and J. Peters. Reinforcement learning in robotics : A survey. The International Journal of Robotics Research, 32:1238–1274, 2013. ISSN 0278-3649. doi

A perspective on space robotics in Japan

NASA Technical Reports Server (NTRS)

Ohkami, Yoshiaki; Nakatani, Ichiro; Wakabayashi, Yasufumi; Iwata, Tsutomu

1994-01-01

This report summarizes the research and development status and perspective on space robotics in Japan. The R & D status emphasizes the current on-going projects at NASDA including the JEM Remote Manipulator System (JEMRMS) to be used on Space Station Freedom and the robotics experiments on Engineering Satellite 7 (ETS-7). As a future perspective, not only NASDA, but also ISAS and other government institutes have been promoting their own research in space robotics in order to support wide spread space activities in the future. Included in this future research is an autonomous satellite retrieval experiment, a dexterous robot experiment, an on-orbit servicing platform, an IVA robot, and several moon/planetary rovers proposed by NASDA or ISAS and other organizations.

NASA Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Hayati, Samad

1999-01-01

Managed for NASA by the California Institute of Technology, the Jet Propulsion Laboratory is the lead U.S. center for robotic exploration of the solar system. JPL spacecraft have visited all known planets except Pluto (a Pluto mission is currently under study). In addition to its work for NASA, JPL conducts tasks for a variety of other federal agencies. In addition, JPL manages the worldwide Deep Space Network, which communicates with spacecraft and conducts scientific investigations from its complexes in California's Mojave Desert near Goldstone; near Madrid, Spain; and near Canberra, Australia. JPL employs about 6000 people.

Robotic influence in the conceptual design of mechanical systems in space and vice versa - A survey

NASA Technical Reports Server (NTRS)

Sanger, George F.

1988-01-01

A survey of methods using robotic devices to construct structural elements in space is presented. Two approaches to robotic construction are considered: one in which the structural elements are designed using conventional aerospace techniques which tend to constrain the function aspects of robotics and one in which the structural elements are designed from the conceptual stage with built-in robotic features. Examples are presented of structural building concepts using robotics, including the construction of the SP-100 nuclear reactor power system, a multimirror large aperture IR space telescope concept, retrieval and repair in space, and the Flight Telerobotic Servicer.

Knowledge based systems for intelligent robotics

NASA Technical Reports Server (NTRS)

Rajaram, N. S.

1982-01-01

It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

Future Visions for Scientific Human Exploration

NASA Technical Reports Server (NTRS)

Garvin, James

2005-01-01

Today, humans explore deep-space locations such as Mars, asteroids, and beyond, vicariously here on Earth, with noteworthy success. However, to achieve the revolutionary breakthroughs that have punctuated the history of science since the dawn of the Space Age has always required humans as "the discoverers," as Daniel Boorstin contends in this book of the same name. During Apollo 17, human explorers on the lunar surface discovered the "genesis rock," orange glass, and humans in space revamped the optically crippled Hubble Space Telescope to enable some of the greatest astronomical discoveries of all time. Science-driven human exploration is about developing the opportunities for such events, perhaps associated with challenging problems such as whether we can identify life beyond Earth within the universe. At issue, however, is how to safely insert humans and the spaceflight systems required to allow humans to operate as they do best in the hostile environment of deep space. The first issue is minimizing the problems associated with human adaptation to the most challenging aspects of deep space space radiation and microgravity (or non-Earth gravity). One solution path is to develop technologies that allow for minimization of the exposure time of people to deep space, as was accomplished in Apollo. For a mission to the planet Mars, this might entail new technological solutions for in-space propulsion that would make possible time-minimized transfers to and from Mars. The problem of rapid, reliable in-space transportation is challenged by the celestial mechanics of moving in space and the so-called "rocket equation." To travel to Mars from Earth in less than the time fuel-minimizing trajectories allow (i.e., Hohmann transfers) requires an exponential increase in the amount of fuel. Thus, month-long transits would require a mass of fuel as large as the dry mass of the ISS, assuming the existence of continuous acceleration engines. This raises the largest technological stumbling block to moving humans on site as deep-space explorers, delivering the masses required for human spaceflight systems to LEO or other Earth orbital vantage points using the existing or projected fleet of Earth-to-orbit (ETO) launch vehicles. Without a return to Saturn V-class boosters or an alternate path, one cannot imagine emplacing the masses that would be required for any deep-space voyage without a prohibitive number of Shuttle-class launches. One futurist solution might involve mass launch systems that could be used to move the consumables, including fuel, water, food, and building materials, to LEO in pieces rather than launching integrated systems. This approach would necessitate the development of robotic assembly and fuel-storage systems in Earth orbit, but could provide for a natural separation of low-value cargo (e.g., fuel, water).

International Space Station (ISS)

NASA Image and Video Library

2001-04-28

A Canadian "handshake" in space occurred on April 28, 2001, as the Canadian-built space station robotic arm (Canadarm2) transferred its launch cradle over to Endeavour's robotic arm. Pictured is astronaut James S. Voss, Expedition Two flight engineer, working the controls of the new robotic arm. Marning the controls from the shuttle's aft flight deck, Canadian Mission Specialist Chris A. Hadfield of the Canadian Space Agency (CSA) was instrumental in the activity. The Space lab pallet that carried the Canadarm2 robotic arm to the station was developed at the Marshall Space Flight Center (MSFC) in Huntsville, Alabama.

Transoral robotic surgery of craniocervical junction and atlantoaxial spine: a cadaveric study.

PubMed

Lee, John Y K; O'Malley, Bert W; Newman, Jason G; Weinstein, Gregory S; Lega, Bradley; Diaz, Jason; Grady, M Sean

2010-01-01

The goal of this study was to determine the potential role and current limitations of the da Vinci surgical robot in transoral decompression of craniocervical junction (CCJ). The da Vinci Surgical System was used in 2 cadaver heads with neck and clavicles intact. Both neurosurgeons and otolaryngologists familiar with the open microscopic procedure, as well as the transoral robotic surgical procedure, undertook dissection and decompression of the CCJ. The robotic system provided superb illumination and 3D depth perception even several centimeters deep to the posterior oropharyngeal mucosa. The 30 degrees endoscope improved cephalad visualization, eliminating the need to split the soft palate for exposure of the lower clivus. The "intuitive" nature of the da Vinci surgical robot arms provided an advantage in allowing the ability to suture the dura mater in a deep, dark corridor. Because visualization was excellent, tremor-free closure was possible. The authors' findings suggest that transoral robotic surgery, with the da Vinci robot system, holds great potential for decompression of the CCJ as well as resection of both extra- and intradural tumors of this region. Further instrument development is necessary and continued investigation is warranted.

Space Robotics: AWIMR an Overview

NASA Technical Reports Server (NTRS)

Wagner, Rick

2006-01-01

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.

Special requirements for electronics to be used in robots in space

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sias, F.R.

1994-12-31

Robots have been developed for use in hazardous environments and space certainly falls in the category of a hazardous environment. Microcomputers and electronics used to control robotic systems to be employed in space face greater threats than earth-bound robots used around radioactive materials. It is well known that nuclear radiation damages semiconductor devices by causing charges to build up in silicon dioxide insulating layers when the devices are exposed to ionizing radiation. Electronics suffer from doses of radiation when used around radioactive materials; however, additional sources of damage are present when the robots are used in space. This paper ismore » a review of the problems that must be considered when developing electronics for robots to be used in space and some of the available solutions.« less

Design Of Robots For Outer Space

NASA Technical Reports Server (NTRS)

Roston, Gerald P.

1990-01-01

Report discusses design of robots for use in zero gravity and vacuum, with attention to differences between requirements imposed on designs by outer space and by terrestrial applications. Terrestrial robots designed for multiple purposes and for minimal cost. Outer-space robots designed specialized to one task where cost has relatively low priority. Design optimal in one environment unlikely optimal in another.

Dynamic analysis of space robot remote control system

NASA Astrophysics Data System (ADS)

Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

2018-05-01

The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

Robonaut 2 and Watson: Cognitive Dexterity for Future Exploration

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Strawser, Philip; Farrell, Logan; Goza, S. Michael; Claunch, Charles A.; Chancey, Raphael; Potapinski, Russell

2018-01-01

Future exploration missions will dictate a level of autonomy never before experienced in human spaceflight. Mission plans involving the uncrewed phases of complex human spacecraft in deep space will require a coordinated autonomous capability to be able to maintain the spacecraft when ground control is not available. One promising direction involves embedding intelligence into the system design both through the employment of state-of-the-art system engineering principles as well as through the creation of a cognitive network between a smart spacecraft or habitat and embodiments of cognitive agents. The work described here details efforts to integrate IBM's Watson and other cognitive computing services into NASA Johnson Space Center (JSC)'s Robonaut 2 (R2) anthropomorphic robot. This paper also discusses future directions this work will take. A cognitive spacecraft management system that is able to seamlessly collect data from subsystems, determine corrective actions, and provide commands to enable those actions is the end goal. These commands could be to embedded spacecraft systems or to a set of robotic assets that are tied into the cognitive system. An exciting collaboration with Woodside provides a promising Earth-bound testing analog, as controlling and maintaining not normally manned off-shore platforms have similar constraints to the space missions described.

A Vision for the Exploration of Mars: Robotic Precursors Followed by Humans to Mars Orbit in 2033

NASA Technical Reports Server (NTRS)

Sellers, Piers J.; Garvin, James B.; Kinney, Anne L.; Amato, Michael J.; White, Nicholas E.

2012-01-01

The reformulation of the Mars program gives NASA a rare opportunity to deliver a credible vision in which humans, robots, and advancements in information technology combine to open the deep space frontier to Mars. There is a broad challenge in the reformulation of the Mars exploration program that truly sets the stage for: 'a strategic collaboration between the Science Mission Directorate (SMD), the Human Exploration and Operations Mission Directorate (HEOMD) and the Office of the Chief Technologist, for the next several decades of exploring Mars'.Any strategy that links all three challenge areas listed into a true long term strategic program necessitates discussion. NASA's SMD and HEOMD should accept the President's challenge and vision by developing an integrated program that will enable a human expedition to Mars orbit in 2033 with the goal of returning samples suitable for addressing the question of whether life exists or ever existed on Mars

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.

1986-01-01

The development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robotics

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an objective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

NASA Technical Reports Server (NTRS)

Erikson, Jon D.

1994-01-01

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

A seismic-network mission proposal as an example for modular robotic lunar exploration missions

NASA Astrophysics Data System (ADS)

Lange, C.; Witte, L.; Rosta, R.; Sohl, F.; Heffels, A.; Knapmeyer, M.

2017-05-01

In this paper it is intended to discuss an approach to reduce design costs for subsequent missions by introducing modularity, commonality and multi-mission capability and thereby reuse of mission individual investments into the design of lunar exploration infrastructural systems. The presented approach has been developed within the German Helmholtz-Alliance on Robotic Exploration of Extreme Environments (ROBEX), a research alliance bringing together deep-sea and space research to jointly develop technologies and investigate problems for the exploration of highly inaccessible terrain - be it in the deep sea and polar regions or on the Moon and other planets. Although overall costs are much smaller for deep sea missions as compared to lunar missions, a lot can be learned from modularity approaches in deep sea research infrastructure design, which allows a high operational flexibility in the planning phase of a mission as well as during its implementation. The research presented here is based on a review of existing modular solutions in Earth orbiting satellites as well as science and exploration systems. This is followed by an investigation of lunar exploration scenarios from which we derive requirements for a multi-mission modular architecture. After analyzing possible options, an approach using a bus modular architecture for dedicated subsystems is presented. The approach is based on exchangeable modules e.g. incorporating instruments, which are added to the baseline system platform according to the demands of the specific scenario. It will be described in more detail, including arising problems e.g. in the power or thermal domain. Finally, technological building blocks to put the architecture into practical use will be described more in detail.

The Asteroid Redirect Mission (ARM): Exploration of a Former Binary NEA?

NASA Technical Reports Server (NTRS)

Abell, P. A.; Mazanek, D. D.; Reeves, D. M.; Chodas, P. W.; Gates, M. M.; Johnson, L. N.; Ticker, R. L.

2016-01-01

The National Aeronautics and Space Administration (NASA) is developing the Asteroid Redirect Mission (ARM) as a capability demonstration for future human exploration, including use of high-power solar electric propulsion, which allows for the efficient movement of large masses through deep space. The ARM will also demonstrate the capability to conduct proximity operations with natural space objects and crewed operations beyond the security of quick Earth return. The Asteroid Redirect Robotic Mission (ARRM), currently in formulation, will visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, conduct a demonstration of a slow push planetary defense technique, and redirect the multi-ton boulder into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts aboard an Orion spacecraft will dock with the robotic vehicle to explore the boulder and return samples to Earth. The ARM is part of NASA's plan to advance technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. The ARM and subsequent availability of the asteroidal material in cis-lunar space, provide significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, and in-situ resource utilization (ISRU). The current reference target for the ARM is NEA (341843) 2008 EV5, which may have been the primary body of a former binary system (Busch et al., 2011; Tardivel et al., 2016). The ARRM will perform several close proximity operations to investigate the NEA and map its surface. A detailed investigation of this object may allow a better understanding of binary NEA physical characteristics and the possible outcomes for their evolution. An overview of the ARM robotic and crewed segments, including mission operations, and a discussion of potential opportunities for participation with the ARM will be provided in this presentation.

An Overview of NASA's Asteroid Redirect Mission (ARM) Concept

NASA Technical Reports Server (NTRS)

Abell, P. A.; Mazanek, D. D.; Reeves, D. M.; Chodas, P. W.; Gates, M. M.; Johnson, L. N.; Ticker, R. L.

2016-01-01

The National Aeronautics and Space Administration (NASA) is developing the Asteroid Redirect Mission (ARM) as a capability demonstration for future human exploration, including use of high-power solar electric propulsion, which allows for the efficient movement of large masses through deep space. The ARM will also demonstrate the capability to conduct proximity operations with natural space objects and crewed operations beyond the security of quick Earth return. The Asteroid Redirect Robotic Mission (ARRM), currently in formulation, will visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, conduct a demonstration of a slow push planetary defense technique, and redirect the multi-ton boulder into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts aboard an Orion spacecraft will dock with the robotic vehicle to explore the boulder and return samples to Earth. The ARM is part of NASA's plan to advance technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. The ARM and subsequent availability of the asteroidal material in cis-lunar space, provide significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, and in-situ resource utilization (ISRU). NASA established the Formulation Assessment and Support Team (FAST), comprised of scientists, engineers, and technologists, which supported ARRM mission requirements formulation, answered specific questions concerning potential target asteroid physical properties, and produced a publically available report. The ARM Investigation Team is being organized to support ARM implementation and execution. NASA is also open to collaboration with its international partners and welcomes further discussions. An overview of the ARM robotic and crewed segments, including mission requirements, NEA targets, and mission operations, and a discussion of potential opportunities for participation with the ARM will be provided.

Space Station as a vital focus for advancing the technologies of automation and robotics

NASA Technical Reports Server (NTRS)

Varsi, G.; Herman, D. H.

1986-01-01

The application of robotics and automation technologies to the Space Station design is examined. Experiments being conducted in the fields of autonomy and robotics, and the benefits provided by these technologies are discussed. The use of automation and robotics in the operation management, the power system, and telerobot of the Space Station is described.

KSC-03pd1375

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Onboard the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance, .Dr. Grant Gilmore holds some of the equipment to be used on an undersea expedition. Gilmore is co-principle investigator of the Passive Acoustic Monitoring System (PAMS), part of the equipment. NASA/KSC is participating in the expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

The Synergistic Engineering Environment

NASA Technical Reports Server (NTRS)

Cruz, Jonathan

2006-01-01

The Synergistic Engineering Environment (SEE) is a system of software dedicated to aiding the understanding of space mission operations. The SEE can integrate disparate sets of data with analytical capabilities, geometric models of spacecraft, and a visualization environment, all contributing to the creation of an interactive simulation of spacecraft. Initially designed to satisfy needs pertaining to the International Space Station, the SEE has been broadened in scope to include spacecraft ranging from those in low orbit around the Earth to those on deep-space missions. The SEE includes analytical capabilities in rigid-body dynamics, kinematics, orbital mechanics, and payload operations. These capabilities enable a user to perform real-time interactive engineering analyses focusing on diverse aspects of operations, including flight attitudes and maneuvers, docking of visiting spacecraft, robotic operations, impingement of spacecraft-engine exhaust plumes, obscuration of instrumentation fields of view, communications, and alternative assembly configurations. .

Supervised space robots are needed in space exploration

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

High level systems engineering models were developed to simulate and analyze the types, numbers, and roles of intelligent systems, including supervised autonomous robots, which will be required to support human space exploration. Conventional and intelligent systems were compared for two missions: (1) a 20-year option 5A space exploration; and (2) the First Lunar Outpost (FLO). These studies indicate that use of supervised intelligent systems on planet surfaces will 'enable' human space exploration. The author points out that space robotics can be considered a form of the emerging technology of field robotics and solutions to many space applications will apply to problems relative to operating in Earth-based hazardous environments.

Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

NASA Technical Reports Server (NTRS)

Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer

2011-01-01

Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed.

The next decade of space robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave; Weisbin, Charles

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000.

Practical Application of Model-based Programming and State-based Architecture to Space Missions

NASA Technical Reports Server (NTRS)

Horvath, Gregory A.; Ingham, Michel D.; Chung, Seung; Martin, Oliver; Williams, Brian

2006-01-01

Innovative systems and software engineering solutions are required to meet the increasingly challenging demands of deep-space robotic missions. While recent advances in the development of an integrated systems and software engineering approach have begun to address some of these issues, they are still at the core highly manual and, therefore, error-prone. This paper describes a task aimed at infusing MIT's model-based executive, Titan, into JPL's Mission Data System (MDS), a unified state-based architecture, systems engineering process, and supporting software framework. Results of the task are presented, including a discussion of the benefits and challenges associated with integrating mature model-based programming techniques and technologies into a rigorously-defined domain specific architecture.

L'espace articulaire de la Robotique Industrielle est un espace vectorielIndustrial Robotics joint space is a vector space

NASA Astrophysics Data System (ADS)

Tondu, Bertrand

2003-05-01

The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws. To cite this article: B. Tondu, C. R. Mecanique 331 (2003).

Robotic Stereotaxy in Cranial Neurosurgery: A Qualitative Systematic Review.

PubMed

Fomenko, Anton; Serletis, Demitre

2017-12-14

Modern-day stereotactic techniques have evolved to tackle the neurosurgical challenge of accurately and reproducibly accessing specific brain targets. Neurosurgical advances have been made in synergy with sophisticated technological developments and engineering innovations such as automated robotic platforms. Robotic systems offer a unique combination of dexterity, durability, indefatigability, and precision. To perform a systematic review of robotic integration for cranial stereotactic guidance in neurosurgery. Specifically, we comprehensively analyze the strengths and weaknesses of a spectrum of robotic technologies, past and present, including details pertaining to each system's kinematic specifications and targeting accuracy profiles. Eligible articles on human clinical applications of cranial robotic-guided stereotactic systems between 1985 and 2017 were extracted from several electronic databases, with a focus on stereotactic biopsy procedures, stereoelectroencephalography, and deep brain stimulation electrode insertion. Cranial robotic stereotactic systems feature serial or parallel architectures with 4 to 7 degrees of freedom, and frame-based or frameless registration. Indications for robotic assistance are diversifying, and include stereotactic biopsy, deep brain stimulation and stereoelectroencephalography electrode placement, ventriculostomy, and ablation procedures. Complication rates are low, and mainly consist of hemorrhage. Newer systems benefit from increasing targeting accuracy, intraoperative imaging ability, improved safety profiles, and reduced operating times. We highlight emerging future directions pertaining to the integration of robotic technologies into future neurosurgical procedures. Notably, a trend toward miniaturization, cost-effectiveness, frameless registration, and increasing safety and accuracy characterize successful stereotactic robotic technologies. Copyright © 2017 by the Congress of Neurological Surgeons

Sprint: The first flight demonstration of the external work system robots

NASA Technical Reports Server (NTRS)

Price, Charles R.; Grimm, Keith

1995-01-01

The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length

NASA Technical Reports Server (NTRS)

Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

2015-01-01

Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.

TROTER's (Tiny Robotic Operation Team Experiment): A new concept of space robots

NASA Technical Reports Server (NTRS)

Su, Renjeng

1990-01-01

In view of the future need of automation and robotics in space and the existing approaches to the problem, we proposed a new concept of robots for space construction. The new concept is based on the basic idea of decentralization. Decentralization occurs, on the one hand, in using teams of many cooperative robots for construction tasks. Redundancy and modular design are explored to achieve high reliability for team robotic operations. Reliability requirement on individual robots is greatly reduced. Another area of decentralization is manifested by the proposed control hierarchy which eventually includes humans in the loop. The control strategy is constrained by various time delays and calls for different levels of abstraction of the task dynamics. Such technology is needed for remote control of robots in an uncertain environment. Thus, concerns of human safety around robots are relaxed. This presentation also introduces the required technologies behind the new robotic concept.

Robotics development for the enhancement of space endeavors

NASA Astrophysics Data System (ADS)

Mauceri, A. J.; Clarke, Margaret M.

Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.

Journey to Mars Update on This Week @NASA – September 30, 2016

NASA Image and Video Library

2016-09-30

NASA Administrator Charlie Bolden joined other leaders of the world’s space agencies to discuss the latest technological breakthroughs and developments in space exploration at the 67th International Astronautical Congress, Sept. 26-30th in Guadalajara, Mexico. At the event, NASA discussed new elements to its multi-phase Journey to Mars to extend the human footprint all the way to the Red Planet. NASA will continue operations aboard the International Space Station through 2024. Work currently underway aboard the station to encourage commercial development of low-Earth orbit, develop deep space systems, life support and human health is part of the Earth Reliant phase of the Journey to Mars. In the 2020s, during the Proving Ground phase when NASA steps out farther, the agency now plans to send an astronaut crew on a yearlong mission to a deep space destination near the moon. They will conduct activities to verify habitation and test our readiness for Mars. A round-trip robotic Mars sample return mission is being targeted for the 2020s, as part of the Earth Independent phase before finally sending humans on a mission to orbit Mars in the early 2030s. Also, Zurbuchen Named Head of NASA Science, Hubble Spots Possible Water Plumes on Europa, Rosetta’s Mission Ends, and Armstrong Celebrates 70 Years of Flight Research!

Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1994-01-01

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservations can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed the following topics: (1) vision systems integration and architecture; (2) selective perception and human robot interaction; (3) robotic systems technology; (4) military and other field applications; (5) dual-use precommercial robotic technology; (6) building operations; (7) planetary exploration applications; (8) planning; (9) new directions in robotics; and (10) commercialization.

Local Free-Space Mapping and Path Guidance for Mobile Robots.

DTIC Science & Technology

1988-03-01

CM a CD U 00 Technical Document 1227 March 1988 Local Free- Space Mapping o and Path Guidance for Mobile Robots o William T. Gex N’% Nancy L. Campbell...TITLE (inludvSeocutCl&sas~o*) Local Free- Space Mapping and Path Guidance for Mobile Robots 12. PERSONAL AUTHOR(S) William T. Gex and Nancy L...Description of Robot System... 2 Free- Space Mapping ... 4 Map Construction ... 4 . ,12pping Examplk... 5 ’ft Sensor Unreliability... 8 % Path Guidance

Humans and Robots. Educational Brief.

ERIC Educational Resources Information Center

National Aeronautics and Space Administration, Washington, DC.

This brief discusses human movement and robotic human movement simulators. The activity for students in grades 5-12 provides a history of robotic movement and includes making an End Effector for the robotic arms used on the Space Shuttle and the International Space Station (ISS). (MVL)

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Andrew Nick of Kennedy Space Center's Swamp Works shows off RASSOR, a robotic miner, at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Human-Robot Teaming: From Space Robotics to Self-Driving Cars

NASA Technical Reports Server (NTRS)

Fong, Terry

2017-01-01

In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

New luster for space robots and automation

NASA Technical Reports Server (NTRS)

Heer, E.

1978-01-01

Consideration is given to the potential role of robotics and automation in space transportation systems. Automation development requirements are defined for projects in space exploration, global services, space utilization, and space transport. In each category the potential automation of ground operations, on-board spacecraft operations, and in-space handling is noted. The major developments of space robot technology are noted for the 1967-1978 period. Economic aspects of ground-operation, ground command, and mission operations are noted.

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Automation and robotics for the National Space Program

NASA Technical Reports Server (NTRS)

1985-01-01

The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.

Summary of astronaut inputs on automation and robotics for Space Station Freedom

NASA Technical Reports Server (NTRS)

Weeks, David J.

1990-01-01

Astronauts and payload specialists present specific recommendations in the form of an overview that relate to the use of automation and robotics on the Space Station Freedom. The inputs are based on on-orbit operations experience, time requirements for crews, and similar crew-specific knowledge that address the impacts of automation and robotics on productivity. Interview techniques and specific questionnaire results are listed, and the majority of the responses indicate that incorporating automation and robotics to some extent and with human backup can improve productivity. Specific support is found for the use of advanced automation and EVA robotics on the Space Station Freedom and for the use of advanced automation on ground-based stations. Ground-based control of in-flight robotics is required, and Space Station activities and crew tasks should be analyzed to assess the systems engineering approach for incorporating automation and robotics.

Robotics in near-earth space

NASA Technical Reports Server (NTRS)

Card, Michael E.

1991-01-01

The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

Next Space Station Crew Previews Mission

NASA Image and Video Library

2017-10-11

NASA astronaut Scott Tingle and crewmates Anton Shkaplerov of the Russian space agency Roscosmos and Norishege Kanai of the Japan Aerospace Exploration Agency (JAXA) discussed their upcoming mission to the International Space Station in a news conference on Oct. 11 at NASA’s Johnson Space Center in Houston. Tingle, Shkaplerov and Kanai will launch to the space station aboard the Soyuz MS-07 spacecraft on Dec. 17 from the Baikonur Cosmodrome in Kazakhstan. They will join the station’s Expedition 54 crew, and return to Earth in April 2018 as members of Expedition 55. During a planned four-month mission, the station crew members will take part in about 250 research investigations and technology demonstrations not possible on Earth in order to advance scientific knowledge of Earth, space, physical and biological sciences. Science conducted on the space station continues to yield benefits for humanity and will enable future long-duration human and robotic exploration into deep space, including missions past the Moon and Mars. This will be the first spaceflight for Tingle and Kanai, and the third for Shkaplerov.

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Deep Infiltrating Colorectal Endometriosis Treated With Robotic-Assisted Rectosigmoidectomy

PubMed Central

Schraibman, Vladimir; Okazaki, Samuel; Maccapani, Gabriel; Chen, Winston Jenning; Domit, Cassia Danielle; Kaufmann, Oskar Grau; Advincula, Arnold P.

2013-01-01

Background and Objective: Deep infiltrating pelvic endometriosis with bowel involvement is one of the most aggressive forms of endometriosis. Nowadays, robotic technology and telemanipulation systems represent the latest developments in minimally invasive surgery. The aim of this study is to present our preliminary results and evaluate the feasibility of robotic-assisted laparoscopic colorectal resection for severe endometriosis. Methods: Between September 2009 and December 2011, 10 women with colorectal endometriosis underwent surgery with the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA, USA). We evaluated the following parameters: short-term complications, clinical outcomes and long-term follow-up, pain relief recurrence rate, and fertility outcomes. Results: Extensive ureterolysis was required in 8 women (80%). Ovarian cystectomy with removal of the cystic wall was performed in 7 women (70%). Torus resection was performed in all women, with unilateral and bilateral uterosacral ligament resection in 1 woman (10%) and 8 women (80%), respectively. In addition to segmental colorectal resection in all cases, partial vaginal resection was necessary in 2 women (20%). An appendectomy was performed in 2 patients (20%). The mean operative time with the robot was 157 minutes (range, 90–190 minutes). The mean hospital stay was 3 days. Six patients had infertility before surgery, with a mean infertility time of 2 years. After a 12-month follow-up period, 4 women (67%) conceived naturally and 2 (33%) underwent in vitro fertilization. Conclusion: We show that robotic-assisted laparoscopic surgery for the treatment of deep infiltrating bowel endometriosis is feasible, effective, and safe. PMID:23925016

Exploration of Near-Earth Asteroids

NASA Technical Reports Server (NTRS)

Abell, Paul

2013-01-01

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEAs) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Information obtained from a human investigation of a NEA, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEA missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEAs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. In addition, robotic precursor and human exploration missions to NEAs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hollars, M. G.; Cannon, R. H., Jr.; Alexander, H. L.; Morse, D. F.

1987-01-01

The Stanford University Aerospace Robotics Laboratory is actively developing and experimentally testing advanced robot control strategies for space robotic applications. Early experiments focused on control of very lightweight one-link manipulators and other flexible structures. The results are being extended to position and force control of mini-manipulators attached to flexible manipulators and multilink manipulators with flexible drive trains. Experimental results show that end-point sensing and careful dynamic modeling or adaptive control are key to the success of these control strategies. Free-flying space robot simulators that operate on an air cushion table have been built to test control strategies in which the dynamics of the base of the robot and the payload are important.

CECE: A Deep Throttling Demonstrator Cryogenic Engine for NASA's Lunar Lander

NASA Technical Reports Server (NTRS)

Giuliano, Victor J.; Leonard, Timothy G.; Adamski, Walter M.; Kim, Tony S.

2007-01-01

As one of the first technology development programs awarded under NASA's Vision for Space Exploration, the Pratt & Whitney Rocketdyne (PWR) Deep Throttling, Common Extensible Cryogenic Engine (CECE) program was selected by NASA in November 2004 to begin technology development and demonstration toward a deep throttling, cryogenic Lunar Lander engine for use across multiple human and robotic lunar exploration mission segments with extensibility to Mars. The CECE program leverages the maturity and previous investment of a flight-proven hydrogen/oxygen expander cycle engine, the RL10, to develop and demonstrate an unprecedented combination of reliability, safety, durability, throttlability, and restart capabilities in a high-energy, cryogenic engine. NASA Marshall Space Flight Center and NASA Glenn Research Center personnel were integral design and analysis team members throughout the requirements assessment, propellant studies and the deep throttling demonstrator elements of the program. The testbed selected for the initial deep throttling demonstration phase of this program was a minimally modified RL10 engine, allowing for maximum current production engine commonality and extensibility with minimum program cost. In just nine months from technical program start, CECE Demonstrator No. 1 engine testing in April/May 2006 at PWR's E06 test stand successfully demonstrated in excess of 10:1 throttling of the hydrogen/oxygen expander cycle engine. This test provided an early demonstration of a viable, enabling cryogenic propulsion concept with invaluable system-level technology data acquisition toward design and development risk mitigation for both the subsequent CECE Demonstrator No. 2 program and to the future Lunar Lander Design, Development, Test and Evaluation effort.

A three-finger multisensory hand for dexterous space robotic tasks

NASA Technical Reports Server (NTRS)

Murase, Yuichi; Komada, Satoru; Uchiyama, Takashi; Machida, Kazuo; Akita, Kenzo

1994-01-01

The National Space Development Agency of Japan will launch ETS-7 in 1997, as a test bed for next generation space technology of RV&D and space robot. MITI has been developing a three-finger multisensory hand for complex space robotic tasks. The hand can be operated under remote control or autonomously. This paper describes the design and development of the hand and the performance of a breadboard model.

KSC-03pd1387

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A team aboard the Liberty Star secures lines to underwater research equipment being used on an expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

Experiments in thrusterless robot locomotion control for space applications. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Jasper, Warren Joseph

1990-01-01

While performing complex assembly tasks or moving about in space, a space robot should minimize the amount of propellant consumed. A study is presented of space robot locomotion and orientation without the use of thrusters. The goal was to design a robot control paradigm that will perform thrusterless locomotion between two points on a structure, and to implement this paradigm on an experimental robot. A two arm free flying robot was constructed which floats on a cushion of air to simulate in 2-D the drag free, zero-g environment of space. The robot can impart momentum to itself by pushing off from an external structure in a coordinated two arm maneuver, and can then reorient itself by activating a momentum wheel. The controller design consists of two parts: a high level strategic controller and a low level dynamic controller. The control paradigm was verified experimentally by commanding the robot to push off from a structure with both arms, rotate 180 degs while translating freely, and then to catch itself on another structure. This method, based on the computed torque, provides a linear feedback law in momentum and its derivatives for a system of rigid bodies.

An intelligent space for mobile robot localization using a multi-camera system.

PubMed

Rampinelli, Mariana; Covre, Vitor Buback; de Queiroz, Felippe Mendonça; Vassallo, Raquel Frizera; Bastos-Filho, Teodiano Freire; Mazo, Manuel

2014-08-15

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System

PubMed Central

Rampinelli, Mariana.; Covre, Vitor Buback.; de Queiroz, Felippe Mendonça.; Vassallo, Raquel Frizera.; Bastos-Filho, Teodiano Freire.; Mazo, Manuel.

2014-01-01

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization. PMID:25196009

RoMPS concept review automatic control of space robot

NASA Technical Reports Server (NTRS)

1991-01-01

The Robot operated Material Processing in Space (RoMPS) experiment is being performed to explore the marriage of two emerging space commercialization technologies: materials processing in microgravity and robotics. This concept review presents engineering drawings and limited technical descriptions of the RoMPS programs' electrical and software systems.

Automation and robotics for the Space Station - An ATAC perspective

NASA Technical Reports Server (NTRS)

Nunamaker, Robert R.

1989-01-01

The study of automation and robotics for the Space Station by the Advanced Technology Advisory Committee is surveyed. The formation of the committee and the methodology for the Space Station automation study are discussed. The committee's recommendations for automation and robotics research and development are listed.

Robotics in space-age manufacturing

NASA Technical Reports Server (NTRS)

Jones, Chip

1991-01-01

Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

NASA Technical Reports Server (NTRS)

1985-01-01

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization.

Machine intelligence and robotics: Report of the NASA study group. Executive summary

NASA Technical Reports Server (NTRS)

1979-01-01

A brief overview of applications of machine intelligence and robotics in the space program is given. These space exploration robots, global service robots to collect data for public service use on soil conditions, sea states, global crop conditions, weather, geology, disasters, etc., from Earth orbit, space industrialization and processing technologies, and construction of large structures in space. Program options for research, advanced development, and implementation of machine intelligence and robot technology for use in program planning are discussed. A vigorous and long-range program to incorporate and keep pace with state of the art developments in computer technology, both in spaceborne and ground-based computer systems is recommended.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A visitor to the Robot Rocket Rally takes an up-close look at RASSOR, a robotic miner developed by NASA Kennedy Space Center's Swamp Works. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Future of robotic space exploration: visions and prospects

NASA Astrophysics Data System (ADS)

Haidegger, Tamas

Autonomous and remote controlled mobile robots and manipulators have already proved their utility throughout several successful national and international space missions. NASA and ESA both sent robots and probes to Mars and beyond in the past years, and the Space Shuttle and Space Station Remote Manipulator Systems brought recognition to CSA. These achievements gained public attention and acknowledgement; however, all are based on technologies developed decades ago. Even the Canadian Dexter robotic arm-to be delivered to the International Space Station this year-had been completed many years ago. In the past decade robotics has become ubiquitous, and the speed of development has increased significantly, opening space for grandiose future plans of autonomous exploration missions. In the mean time, space agencies throughout the world insist on running their own costly human space flight programs. A recent workshop at NASA dealing with the issue stated that the primary reason behind US human space exploration is not science; rather the USA wants to maintain its international leadership in this field. A second space-race may fall upon us, fueled by the desire of the developing space powers to prove their capabilities, mainly driven by national pride. The aim of the paper is to introduce the upcoming unmanned space exploration scenarios that are already feasible with present day robotic technology and to show their humandriven alternatives. Astronauts are to conquer Mars in the foreseeable future, in but robots could go a lot further already. Serious engineering constraints and possibilities are to be discussed, along with issues beyond research and development. Future mission design planning must deal with both the technological and political aspects of space. Compromising on the scientific outcome may pay well by taking advantage of public awareness and nation and international interests.

Perspectives future space on robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave

1994-01-01

Last year's flight of the German ROTEX robot flight experiment heralded the start of a new era for space robotics. ROTEX is the first of at least 10 new robotic systems and experiments that will fly before 2000. These robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces. The robotic systems to be flown in the next five years fall into three categories: extravehicular robotic (EVR) servicers, science payload servicers, and planetary surface rovers. A description of the work on these systems is presented.

Future Directions for Fusion Propulsion Research at NASA

NASA Technical Reports Server (NTRS)

Adams, Robert B.; Cassibry, Jason T.

2005-01-01

Fusion propulsion is inevitable if the human race remains dedicated to exploration of the solar system. There are fundamental reasons why fusion surpasses more traditional approaches to routine crewed missions to Mars, crewed missions to the outer planets, and deep space high speed robotic missions, assuming that reduced trip times, increased payloads, and higher available power are desired. A recent series of informal discussions were held among members from government, academia, and industry concerning fusion propulsion. We compiled a sufficient set of arguments for utilizing fusion in space. .If the U.S. is to lead the effort and produce a working system in a reasonable amount of time, NASA must take the initiative, relying on, but not waiting for, DOE guidance. Arguments for fusion propulsion are presented, along with fusion enabled mission examples, fusion technology trade space, and a proposed outline for future efforts.

Exhaustive geographic search with mobile robots along space-filling curves

DOE Office of Scientific and Technical Information (OSTI.GOV)

Spires, S.V.; Goldsmith, S.Y.

1998-03-01

Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have themore » robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.« less

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1994-01-01

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

Robots in space into the 21st century

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Lavery, D.; Rodriguez, G.

1997-01-01

Describes the technological developments which are establishing the foundation for an exciting era of in situ exploration missions to planets, comets and asteroids with advanced robotic systems. Also outlines important concurrent terrestrial applications and spinoffs of the space robotics technology. These include high-precision robotic manipulators for microsurgical operations and dexterous arm control systems.

Solar Panel Integration as an Alternate Power Source on Centaur 2 (SPIAPS)

NASA Technical Reports Server (NTRS)

Gebara, Christine A.; Schuetze, Nich A.; Knochel, Aviana M.; Magruder, Darby F.

2011-01-01

The dream of exploration has inspired thousands throughout time. Space exploration, in particular, has taken the past century by storm and caused a great advance in technology. In this project, a retractable solar panel array will be developed for use on the Centaur 2 Rover. Energy generated by the solar panels will go to power the Centaur 2 Robot (C2) or Regolith & Environment Science & Oxygen & Lunar Volatile Extraction (RESOLVE) payload, an in-situ resource utilization project. Such payload is designed to drill into lunar and Martian terrain as well as be able to conduct other geological testing; RESOLVE is slated for testing in 2012. Ultimately, this project will fit into NASA s larger goal of deep space exploration as well as long term presence outside Earth s orbit.

Particle Radiation Sources, Propagation and Interactions in Deep Space, at Earth, the Moon, Mars, and Beyond: Examples of Radiation Interactions and Effects

NASA Astrophysics Data System (ADS)

Schwadron, Nathan A.; Cooper, John F.; Desai, Mihir; Downs, Cooper; Gorby, Matt; Jordan, Andrew P.; Joyce, Colin J.; Kozarev, Kamen; Linker, Jon A.; Mikíc, Zoran; Riley, Pete; Spence, Harlan E.; Török, Tibor; Townsend, Lawrence W.; Wilson, Jody K.; Zeitlin, Cary

2017-11-01

Particle radiation has significant effects for astronauts, satellites and planetary bodies throughout the Solar System. Acute space radiation hazards pose risks to human and robotic exploration. This radiation also naturally weathers the exposed surface regolith of the Moon, the two moons of Mars, and other airless bodies, and contributes to chemical evolution of planetary atmospheres at Earth, Mars, Venus, Titan, and Pluto. We provide a select review of recent areas of research covering the origin of SEPs from coronal mass ejections low in the corona, propagation of events through the solar system during the anomalously weak solar cycle 24 and important examples of radiation interactions for Earth, other planets and airless bodies such as the Moon.

KSC-2013-2865

NASA Image and Video Library

2013-06-21

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, students from University of Colorado describe a robotic capability for growing a variety of plants, both for consumption as well as the benefit of oxygen-carbon dioxide cycling. Considerations range from monitoring and nutrient supply to selection of plants and autonomy. The activity is part of the eXploration Habitat, or X-Hab, Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in Science, Technology, Engineering and Math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Jim Grossmann

KSC-2013-2864

NASA Image and Video Library

2013-06-21

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, students from University of Colorado describe a robotic capability for growing a variety of plants, both for consumption as well as the benefit of oxygen-carbon dioxide cycling. Considerations range from monitoring and nutrient supply to selection of plants and autonomy. The activity is part of the eXploration Habitat, or X-Hab, Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in Science, Technology, Engineering and Math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Jim Grossmann

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

NASA Technical Reports Server (NTRS)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

Robots Explore the Farthest Reaches of Earth and Space

NASA Technical Reports Server (NTRS)

2008-01-01

"We were the first that ever burst/Into that silent sea," the title character recounts in Samuel Taylor Coleridge s opus Rime of the Ancient Mariner. This famous couplet is equally applicable to undersea exploration today as surface voyages then, and has recently been applied to space travel in the title of a chronicle of the early years of human space flight ("Into That Silent Sea: Trailblazers of the Space Era, 1961-1965"), companion to the +n the Shadow of the Moon book and movie. The parallel is certainly fitting, considering both fields explore unknown, harsh, and tantalizingly inhospitable environments. For starters, exploring the Briny Deep and the Final Frontier requires special vehicles, and the most economical and safest means for each employ remotely operated vehicles (ROVs). ROVs have proven the tool of choice for exploring remote locations, allowing scientists to explore the deepest part of the sea and the furthest reaches of the solar system with the least weight penalty, the most flexibility and specialization of design, and without the need to provide for sustaining human life, or the risk of jeopardizing that life. Most NASA probes, including the historic Voyager I and II spacecraft and especially the Mars rovers, Spirit and Opportunity, feature remote operation, but new missions and new planetary environments will demand new capabilities from the robotic explorers of the future. NASA has an acute interest in the development of specialized ROVs, as new lessons learned on Earth can be applied to new environments and increasingly complex missions in the future of space exploration.

Robot Rescue

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2004-01-01

Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

Development of a Novel Locomotion Algorithm for Snake Robot

NASA Astrophysics Data System (ADS)

Khan, Raisuddin; Masum Billah, Md; Watanabe, Mitsuru; Shafie, A. A.

2013-12-01

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation.

Using conceptual spaces to fuse knowledge from heterogeneous robot platforms

NASA Astrophysics Data System (ADS)

Kira, Zsolt

2010-04-01

As robots become more common, it becomes increasingly useful for many applications to use them in teams that sense the world in a distributed manner. In such situations, the robots or a central control center must communicate and fuse information received from multiple sources. A key challenge for this problem is perceptual heterogeneity, where the sensors, perceptual representations, and training instances used by the robots differ dramatically. In this paper, we use Gärdenfors' conceptual spaces, a geometric representation with strong roots in cognitive science and psychology, in order to represent the appearance of objects and show how the problem of heterogeneity can be intuitively explored by looking at the situation where multiple robots differ in their conceptual spaces at different levels. To bridge low-level sensory differences, we abstract raw sensory data into properties (such as color or texture categories), represented as Gaussian Mixture Models, and demonstrate that this facilitates both individual learning and the fusion of concepts between robots. Concepts (e.g. objects) are represented as a fuzzy mixture of these properties. We then treat the problem where the conceptual spaces of two robots differ and they only share a subset of these properties. In this case, we use joint interaction and statistical metrics to determine which properties are shared. Finally, we show how conceptual spaces can handle the combination of such missing properties when fusing concepts received from different robots. We demonstrate the fusion of information in real-robot experiments with a Mobile Robots Amigobot and Pioneer 2DX with significantly different cameras and (on one robot) a SICK lidar.ÿÿÿÿ

Extending the Body to Virtual Tools Using a Robotic Surgical Interface: Evidence from the Crossmodal Congruency Task

PubMed Central

Sengül, Ali; van Elk, Michiel; Rognini, Giulio; Aspell, Jane Elizabeth; Bleuler, Hannes; Blanke, Olaf

2012-01-01

The effects of real-world tool use on body or space representations are relatively well established in cognitive neuroscience. Several studies have shown, for example, that active tool use results in a facilitated integration of multisensory information in peripersonal space, i.e. the space directly surrounding the body. However, it remains unknown to what extent similar mechanisms apply to the use of virtual-robotic tools, such as those used in the field of surgical robotics, in which a surgeon may use bimanual haptic interfaces to control a surgery robot at a remote location. This paper presents two experiments in which participants used a haptic handle, originally designed for a commercial surgery robot, to control a virtual tool. The integration of multisensory information related to the virtual-robotic tool was assessed by means of the crossmodal congruency task, in which subjects responded to tactile vibrations applied to their fingers while ignoring visual distractors superimposed on the tip of the virtual-robotic tool. Our results show that active virtual-robotic tool use changes the spatial modulation of the crossmodal congruency effects, comparable to changes in the representation of peripersonal space observed during real-world tool use. Moreover, when the virtual-robotic tools were held in a crossed position, the visual distractors interfered strongly with tactile stimuli that was connected with the hand via the tool, reflecting a remapping of peripersonal space. Such remapping was not only observed when the virtual-robotic tools were actively used (Experiment 1), but also when passively held the tools (Experiment 2). The present study extends earlier findings on the extension of peripersonal space from physical and pointing tools to virtual-robotic tools using techniques from haptics and virtual reality. We discuss our data with respect to learning and human factors in the field of surgical robotics and discuss the use of new technologies in the field of cognitive neuroscience. PMID:23227142

Extending the body to virtual tools using a robotic surgical interface: evidence from the crossmodal congruency task.

PubMed

Sengül, Ali; van Elk, Michiel; Rognini, Giulio; Aspell, Jane Elizabeth; Bleuler, Hannes; Blanke, Olaf

2012-01-01

The effects of real-world tool use on body or space representations are relatively well established in cognitive neuroscience. Several studies have shown, for example, that active tool use results in a facilitated integration of multisensory information in peripersonal space, i.e. the space directly surrounding the body. However, it remains unknown to what extent similar mechanisms apply to the use of virtual-robotic tools, such as those used in the field of surgical robotics, in which a surgeon may use bimanual haptic interfaces to control a surgery robot at a remote location. This paper presents two experiments in which participants used a haptic handle, originally designed for a commercial surgery robot, to control a virtual tool. The integration of multisensory information related to the virtual-robotic tool was assessed by means of the crossmodal congruency task, in which subjects responded to tactile vibrations applied to their fingers while ignoring visual distractors superimposed on the tip of the virtual-robotic tool. Our results show that active virtual-robotic tool use changes the spatial modulation of the crossmodal congruency effects, comparable to changes in the representation of peripersonal space observed during real-world tool use. Moreover, when the virtual-robotic tools were held in a crossed position, the visual distractors interfered strongly with tactile stimuli that was connected with the hand via the tool, reflecting a remapping of peripersonal space. Such remapping was not only observed when the virtual-robotic tools were actively used (Experiment 1), but also when passively held the tools (Experiment 2). The present study extends earlier findings on the extension of peripersonal space from physical and pointing tools to virtual-robotic tools using techniques from haptics and virtual reality. We discuss our data with respect to learning and human factors in the field of surgical robotics and discuss the use of new technologies in the field of cognitive neuroscience.

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

NASA Technical Reports Server (NTRS)

1994-01-01

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

NASA Technical Reports Server (NTRS)

Meintel, A. J., Jr.; Will, R. W.

1985-01-01

This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space

NASA Technical Reports Server (NTRS)

1987-01-01

Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.

Automation and robotics for the Space Station - The influence of the Advanced Technology Advisory Committee

NASA Technical Reports Server (NTRS)

Nunamaker, Robert R.; Willshire, Kelli F.

1988-01-01

The reports of a committee established by Congress to identify specific systems of the Space Station which would advance automation and robotics technologies are reviewed. The history of the committee, its relation to NASA, and the reports which it has released are discussed. The committee's reports recommend the widespread use of automation and robotics for the Space Station, a program for technology development and transfer between industries and research and development communities, and the planned use of robots to service and repair satellites and their payloads which are accessible from the Space Station.

Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

NASA Technical Reports Server (NTRS)

Gross, Anthony R.; Briggs, Geoffrey A.; Glass, Brian J.; Pedersen, Liam; Kortenkamp, David M.; Wettergreen, David S.; Nourbakhsh, I.; Clancy, Daniel J.; Zornetzer, Steven (Technical Monitor)

2002-01-01

Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

NASA Technical Reports Server (NTRS)

Goddard, Charles O.

2012-01-01

Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, Francois G.

2002-06-01

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus,more » there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).« less

Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1988-01-01

Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A torso model of Robonaut 2, identical to R2 already on the International Space Station, is introduced to a crowd of onlookers by Ron Diftler of NASA's Johnson Space Center in Houston. The demonstration was one of several provided during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Effect of motor dynamics on nonlinear feedback robot arm control

NASA Technical Reports Server (NTRS)

Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

1991-01-01

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Challenges of In Space Robotic Servicing

NASA Technical Reports Server (NTRS)

Roberts, Brian John

2015-01-01

As future space missions extend beyond the friendly confines of low earth orbit, robots are becoming an increasingly vital component on flight manifests. While the main focus to-date has been on satellite servicing due to its high commercial potential, robots are also being considered for orbital debris removal, space construction, and asteroid sample retrieval. The robotic technologies and automation required to carry out these missions represent a significant advancement beyond the manipulation technology used previously on the Space Shuttle, the International Space Station, and planetary rovers. While higher demands are being driven by the more ambitious nature of the tasks, the handling of uncooperative targets such as satellites and asteroids, present a greater challenge.

RoMPS concept review automatic control of space robot, volume 2

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1991-01-01

Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

Robots Spur Software That Lends a Hand

NASA Technical Reports Server (NTRS)

2014-01-01

While building a robot to assist astronauts in space, Johnson Space Center worked with partners to develop robot reasoning and interaction technology. The partners created Robonaut 1, which led to Robonaut 2, and the work also led to patents now held by Universal Robotics in Nashville, Tennessee. The NASA-derived technology is available for use in warehousing, mining, and more.

Robot Wars: US Empire and geopolitics in the robotic age

PubMed Central

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Robot Wars: US Empire and geopolitics in the robotic age.

PubMed

Shaw, Ian Gr

2017-10-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots - driven by leaps in artificial intelligence and swarming - are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence - revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy.

The Role of Robots and Automation in Space

NASA Technical Reports Server (NTRS)

Heer, E.

1978-01-01

Advanced space transportation systems based on the shuttle and interim upper stage will open the way to the use of large-scale industrial and commercial systems in space. The role of robot and automation technology in the cost-effective implementation and operation of such systems in the next two decades is discussed. Planning studies initiated by NASA are described as applied to space exploration, global services, and space industrialization, and a forecast of potential missions in each category is presented. The appendix lists highlights of space robot technology from 1967 to the present.

Deep Space Control Challenges of the New Millennium

NASA Technical Reports Server (NTRS)

Bayard, David S.; Burdick, Garry M.

1999-01-01

The exploration of deep space presents a variety of significant control challenges. Long communication delays coupled with challenging new science objectives require high levels of system autonomy and increasingly demanding pointing and control capabilities. Historically, missions based on the use of a large single spacecraft have been successful and popular since the early days of NASA. However, these large spacecraft missions are currently being displaced by more frequent and more focused missions based on the use of smaller and less expensive spacecraft designs. This trend drives the need to design smart software and good algorithms which together with the miniaturization of control components will improve performance while replacing the heavier and more expensive hardware used in the past. NASA's future space exploration will also include mission types that have never been attempted before, posing significant challenges to the underlying control system. This includes controlled landing on small bodies (e.g., asteroids and comets), sample return missions (where samples are brought back from other planets), robotic exploration of planetary surfaces (e.g., intelligent rovers), high precision formation flying, and deep space optical interferometry, While the control of planetary spacecraft for traditional flyby and orbiter missions are based on well-understood methodologies, control approaches for many future missions will be fundamentally different. This paradigm shift will require completely new control system development approaches, system architectures, and much greater levels of system autonomy to meet expected performance in the presence of significant environmental disturbances, and plant uncertainties. This paper will trace the motivation for these changes and will layout the approach taken to meet the new challenges. Emerging missions will be used to explain and illustrate the need for these changes.

Design and Parametric Sizing of Deep Space Habitats Supporting NASA'S Human Space Flight Architecture Team

NASA Technical Reports Server (NTRS)

Toups, Larry; Simon, Matthew; Smitherman, David; Spexarth, Gary

2012-01-01

NASA's Human Space Flight Architecture Team (HAT) is a multi-disciplinary, cross-agency study team that conducts strategic analysis of integrated development approaches for human and robotic space exploration architectures. During each analysis cycle, HAT iterates and refines the definition of design reference missions (DRMs), which inform the definition of a set of integrated capabilities required to explore multiple destinations. An important capability identified in this capability-driven approach is habitation, which is necessary for crewmembers to live and work effectively during long duration transits to and operations at exploration destinations beyond Low Earth Orbit (LEO). This capability is captured by an element referred to as the Deep Space Habitat (DSH), which provides all equipment and resources for the functions required to support crew safety, health, and work including: life support, food preparation, waste management, sleep quarters, and housekeeping.The purpose of this paper is to describe the design of the DSH capable of supporting crew during exploration missions. First, the paper describes the functionality required in a DSH to support the HAT defined exploration missions, the parameters affecting its design, and the assumptions used in the sizing of the habitat. Then, the process used for arriving at parametric sizing estimates to support additional HAT analyses is detailed. Finally, results from the HAT Cycle C DSH sizing are presented followed by a brief description of the remaining design trades and technological advancements necessary to enable the exploration habitation capability.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

SpacePRIDE Team members Chris Williamson, right, and Rob Moore, second from right, answer questions from 8th grade Sullivan Middle School (Mass.) students about their robot on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. SpacePRIDE's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Zero Robotics at Kennedy Space Center Visitor Complex

NASA Image and Video Library

2017-08-11

A programmable off-the-shelf Sphero robot is shown on a Mars mat at the Center for Space Education at NASA's Kennedy Space Center in Florida. The Spheros were available for students to practice their programming skills by navigating the robots around a challenge course on the mat. Students used the mat and Sphero robots during "loss of signal" times when the connection to the International Space Station was temporarily unavailable. Teams from across the state of Florida were gathered at Kennedy for the finals of the Zero Robotics Middle School Summer Program national championship. The five-week program allows rising sixth- through ninth-graders to write programs for small satellites called SPHERES (Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites). Finalists saw their code tested aboard the orbiting laboratory.

NASA's Space Launch System: A Transformative Capability for Exploration

NASA Technical Reports Server (NTRS)

Robinson, Kimberly F.; Cook, Jerry; Hitt, David

2016-01-01

Currently making rapid progress toward first launch in 2018, NASA's exploration-class Space Launch System (SLS) represents a game-changing new spaceflight capability, enabling mission profiles that are currently impossible. Designed to launch human deep-space missions farther into space than ever before, the initial configuration of SLS will be able to deliver more than 70 metric tons of payload to low Earth orbit (LEO), and will send NASA's new Orion crew vehicle into lunar orbit. Plans call for the rocket to evolve on its second flight, via a new upper stage, to a more powerful configuration capable of lofting 105 tons to LEO or co-manifesting additional systems with Orion on launches to the lunar vicinity. Ultimately, SLS will evolve to a configuration capable of delivering more than 130 tons to LEO. SLS is a foundational asset for NASA's Journey to Mars, and has been recognized by the International Space Exploration Coordination Group as a key element for cooperative missions beyond LEO. In order to enable human deep-space exploration, SLS provides unrivaled mass, volume, and departure energy for payloads, offering numerous benefits for a variety of other missions. For robotic science probes to the outer solar system, for example, SLS can cut transit times to less than half that of currently available vehicles, producing earlier data return, enhancing iterative exploration, and reducing mission cost and risk. In the field of astrophysics, SLS' high payload volume, in the form of payload fairings with a diameter of up to 10 meters, creates the opportunity for launch of large-aperture telescopes providing an unprecedented look at our universe, and offers the ability to conduct crewed servicing missions to observatories stationed at locations beyond low Earth orbit. At the other end of the spectrum, SLS opens access to deep space for low-cost missions in the form of smallsats. The first launch of SLS will deliver beyond LEO 13 6-unit smallsat payloads, representing multiple disciplines, including three spacecraft competitively chosen through NASA's Centennial Challenges competition. Private organizations have also identified benefits of SLS for unique public-private partnerships. This paper will give an overview of SLS' capabilities and its current status, and discuss the vehicle's potential for human exploration of deep space and other game-changing utilization opportunities.

NASA's Space Launch System: A Transformative Capability for Exploration

NASA Technical Reports Server (NTRS)

Robinson, Kimberly F.; Cook, Jerry

2016-01-01

Currently making rapid progress toward first launch in 2018, NASA's exploration-class Space Launch System (SLS) represents a game-changing new spaceflight capability, enabling mission profiles that are currently impossible. Designed to launch human deep-space missions farther into space than ever before, the initial configuration of SLS will be able to deliver more than 70 metric tons of payload to low Earth orbit (LEO), and will send NASA's new Orion crew vehicle into lunar orbit. Plans call for the rocket to evolve on its second flight, via a new upper stage, to a more powerful configuration capable of lofting 105 t to LEO or comanifesting additional systems with Orion on launches to the lunar vicinity. Ultimately, SLS will evolve to a configuration capable of delivering more than 130 t to LEO. SLS is a foundational asset for NASA's Journey to Mars, and has been recognized by the International Space Exploration Coordination Group as a key element for cooperative missions beyond LEO. In order to enable human deep-space exploration, SLS provides unrivaled mass, volume, and departure energy for payloads, offering numerous benefits for a variety of other missions. For robotic science probes to the outer solar system, for example, SLS can cut transit times to less than half that of currently available vehicles, producing earlier data return, enhancing iterative exploration, and reducing mission cost and risk. In the field of astrophysics, SLS' high payload volume, in the form of payload fairings with a diameter of up to 10 meters, creates the opportunity for launch of large-aperture telescopes providing an unprecedented look at our universe, and offers the ability to conduct crewed servicing missions to observatories stationed at locations beyond low Earth orbit. At the other end of the spectrum, SLS opens access to deep space for low-cost missions in the form of smallsats. The first launch of SLS will deliver beyond LEO 13 6U smallsat payloads, representing multiple disciplines, including three spacecraft competitively chosen through NASA's Centennial Challenges competition. Private organizations have also identified benefits of SLS for unique public-private partnerships. This paper will give an overview of SLS' capabilities and its current status, and discuss the vehicle's potential for human exploration of deep space and other game-changing utilization opportunities.

Peer-to-Peer Human-Robot Interaction for Space Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Nourbakhsh, Illah

2004-01-01

NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Ron Diftler of NASA's Johnson Space Center in Houston demonstrates the leg movements of Robonaut 2 during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

NASA Technical Reports Server (NTRS)

Zia, Omar

1989-01-01

The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

Innovative Robot Archetypes for In-Space Construction and Maintenance

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

2005-01-01

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Kennedy Space Center, Space Shuttle Processing, and International Space Station Program Overview

NASA Technical Reports Server (NTRS)

Higginbotham, Scott Alan

2011-01-01

Topics include: International Space Station assembly sequence; Electrical power substation; Thermal control substation; Guidance, navigation and control; Command data and handling; Robotics; Human and robotic integration; Additional modes of re-supply; NASA and International partner control centers; Space Shuttle ground operations.

Space station automation: the role of robotics and artificial intelligence (Invited Paper)

NASA Astrophysics Data System (ADS)

Park, W. T.; Firschein, O.

1985-12-01

Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

Laboratory testing of candidate robotic applications for space

NASA Technical Reports Server (NTRS)

Purves, R. B.

1987-01-01

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized.

Artificial Intelligence in planetary spectroscopy

NASA Astrophysics Data System (ADS)

Waldmann, Ingo

2017-10-01

The field of exoplanetary spectroscopy is as fast moving as it is new. Analysing currently available observations of exoplanetary atmospheres often invoke large and correlated parameter spaces that can be difficult to map or constrain. This is true for both: the data analysis of observations as well as the theoretical modelling of their atmospheres.Issues of low signal-to-noise data and large, non-linear parameter spaces are nothing new and commonly found in many fields of engineering and the physical sciences. Recent years have seen vast improvements in statistical data analysis and machine learning that have revolutionised fields as diverse as telecommunication, pattern recognition, medical physics and cosmology.In many aspects, data mining and non-linearity challenges encountered in other data intensive fields are directly transferable to the field of extrasolar planets. In this conference, I will discuss how deep neural networks can be designed to facilitate solving said issues both in exoplanet atmospheres as well as for atmospheres in our own solar system. I will present a deep belief network, RobERt (Robotic Exoplanet Recognition), able to learn to recognise exoplanetary spectra and provide artificial intelligences to state-of-the-art atmospheric retrieval algorithms. Furthermore, I will present a new deep convolutional network that is able to map planetary surface compositions using hyper-spectral imaging and demonstrate its uses on Cassini-VIMS data of Saturn.

Enabling Interoperable Space Robots With the Joint Technical Architecture for Robotic Systems (JTARS)

NASA Technical Reports Server (NTRS)

Bradley, Arthur; Dubowsky, Steven; Quinn, Roger; Marzwell, Neville

2005-01-01

Robots that operate independently of one another will not be adequate to accomplish the future exploration tasks of long-distance autonomous navigation, habitat construction, resource discovery, and material handling. Such activities will require that systems widely share information, plan and divide complex tasks, share common resources, and physically cooperate to manipulate objects. Recognizing the need for interoperable robots to accomplish the new exploration initiative, NASA s Office of Exploration Systems Research & Technology recently funded the development of the Joint Technical Architecture for Robotic Systems (JTARS). JTARS charter is to identify the interface standards necessary to achieve interoperability among space robots. A JTARS working group (JTARS-WG) has been established comprising recognized leaders in the field of space robotics including representatives from seven NASA centers along with academia and private industry. The working group s early accomplishments include addressing key issues required for interoperability, defining which systems are within the project s scope, and framing the JTARS manuals around classes of robotic systems.

Space robotics in the '90s

NASA Technical Reports Server (NTRS)

Ruoff, Carl F.

1989-01-01

The use of telerobots and rovers in space missions is examined. The functioning of the telerobots and rovers and their proposed applications are described. Research developments needed to design robots for specific environments and functions are described. Examples of NASA robotics projects are presented.

Transformers: Shape-Changing Space Systems Built with Robotic Textiles

NASA Technical Reports Server (NTRS)

Stoica, Adrian

2013-01-01

Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

An argument for human exploration of the moon and Mars.

PubMed

Spudis, P D

1992-01-01

A debate of the merits of human space travel as opposed to robots is presented. While robotic space travel would be considerably less expensive, the author takes the position that there are certain skills and research abilities that only humans possess. Human contributions to past lunar exploration are considered, along with a discussion of the interaction of humans with robotics or other artificial intelligence or computer driven technologies. The author concludes that while robots and machines are tools which should be incorporated into space travel, they are not adequate substitutes for people.

KSC-03pd1389

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A view inside the pilot house of the Liberty Star. The ship is taking part in an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The banks are a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1381

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater equipment sits on the deck of the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1390

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - The Liberty Star makes its way along the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The ship is taking part in an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. Equipment being used for the research includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1382

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater equipment is checked on the deck of the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1386

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater research equipment slowly sinks into the water. An undersea expedition is underway to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.

The role of laser technology in materials processing and nondestructive testing in the 21st century

NASA Astrophysics Data System (ADS)

Sheinberg, B. M.

Some of the potential applications of laser technology in the 21st century are explored, and the proposed role of this technology in relation to materials processing, nondestructive testing, and quality control are discussed. Examples illustrating the implementation of this techology include the proposed construction of vehicles and platforms in near and deep space, and construction of underwater platforms. The direction in which today's technology should evolve to pursue the achievement of such goals is indicated. Included in the discussion is an evaluation of laser, robotics, and fiber optics technologies with respect to their ability to achieve a synergistic level of operation.

Integration of a sensor based multiple robot environment for space applications: The Johnson Space Center Teleoperator Branch Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hwang, James; Campbell, Perry; Ross, Mike; Price, Charles R.; Barron, Don

1989-01-01

An integrated operating environment was designed to incorporate three general purpose robots, sensors, and end effectors, including Force/Torque Sensors, Tactile Array sensors, Tactile force sensors, and Force-sensing grippers. The design and implementation of: (1) the teleoperation of a general purpose PUMA robot; (2) an integrated sensor hardware/software system; (3) the force-sensing gripper control; (4) the host computer system for dual Robotic Research arms; and (5) the Ethernet integration are described.

Command and Telemetry Latency Effects on Operator Performance during International Space Station Robotics Operations

NASA Technical Reports Server (NTRS)

Currie, Nancy J.; Rochlis, Jennifer

2004-01-01

International Space Station (ISS) operations will require the on-board crew to perform numerous robotic-assisted assembly, maintenance, and inspection activities. Current estimates for some robotically performed maintenance timelines are disproportionate and potentially exceed crew availability and duty times. Ground-based control of the ISS robotic manipulators, specifically the Special Purpose Dexterous Manipulator (SPDM), is being examined as one potential solution to alleviate the excessive amounts of crew time required for extravehicular robotic maintenance and inspection tasks.

Robotic experiment with a force reflecting handcontroller onboard MIR space station

NASA Technical Reports Server (NTRS)

Delpech, M.; Matzakis, Y.

1994-01-01

During the French CASSIOPEE mission that will fly onboard MIR space station in 1996, ergonomic evaluations of a force reflecting handcontroller will be performed on a simulated robotic task. This handcontroller is a part of the COGNILAB payload that will be used also for experiments in neurophysiology. The purpose of the robotic experiment is the validation of a new control and design concept that would enhance the task performances for telemanipulating space robots. Besides the handcontroller and its control unit, the experimental system includes a simulator of the slave robot dynamics for both free and constrained motions, a flat display screen and a seat with special fixtures for holding the astronaut.

Robotics Algorithms Provide Nutritional Guidelines

NASA Technical Reports Server (NTRS)

2009-01-01

On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

Detection and Localization of Robotic Tools in Robot-Assisted Surgery Videos Using Deep Neural Networks for Region Proposal and Detection.

PubMed

Sarikaya, Duygu; Corso, Jason J; Guru, Khurshid A

2017-07-01

Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition, objective skill assessment, real-time feedback, and human-robot collaborative surgeries. We propose a solution to the tool detection and localization open problem in RAS video understanding, using a strictly computer vision approach and the recent advances of deep learning. We propose an architecture using multimodal convolutional neural networks for fast detection and localization of tools in RAS videos. To the best of our knowledge, this approach will be the first to incorporate deep neural networks for tool detection and localization in RAS videos. Our architecture applies a region proposal network (RPN) and a multimodal two stream convolutional network for object detection to jointly predict objectness and localization on a fusion of image and temporal motion cues. Our results with an average precision of 91% and a mean computation time of 0.1 s per test frame detection indicate that our study is superior to conventionally used methods for medical imaging while also emphasizing the benefits of using RPN for precision and efficiency. We also introduce a new data set, ATLAS Dione, for RAS video understanding. Our data set provides video data of ten surgeons from Roswell Park Cancer Institute, Buffalo, NY, USA, performing six different surgical tasks on the daVinci Surgical System (dVSS) with annotations of robotic tools per frame.

Manned spacecraft automation and robotics

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1987-01-01

The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview

NASA Technical Reports Server (NTRS)

1985-01-01

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

DTIC Science & Technology

2003-06-01

pages 961-968. Brooks, R. A., Breazeal, C., Marjanovic , M., and Scassellati, B. (1999). The Cog project: Building a humanoid robot. Lecture Notes in...investment in knowledge infrastructure. Communications of the ACM, 38(11):33-38. Marjanovic , M. (1995). Learning functional maps between sensorimotor

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

NASA Center for Intelligent Robotic Systems for Space Exploration

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.

Use of 3D vision for fine robot motion

NASA Technical Reports Server (NTRS)

Lokshin, Anatole; Litwin, Todd

1989-01-01

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Envisioning Cognitive Robots for Future Space Exploration

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Stoica, Adrian

2010-01-01

Cognitive robots in the context of space exploration are envisioned with advanced capabilities of model building, continuous planning/re-planning, self-diagnosis, as well as the ability to exhibit a level of 'understanding' of new situations. An overview of some JPL components (e.g. CASPER, CAMPOUT) and a description of the architecture CARACaS (Control Architecture for Robotic Agent Command and Sensing) that combines these in the context of a cognitive robotic system operating in a various scenarios are presented. Finally, two examples of typical scenarios of a multi-robot construction mission and a human-robot mission, involving direct collaboration with humans is given.

KSC-2013-2866

NASA Image and Video Library

2013-06-21

CAPE CANAVERAL, Fla. -- Kennedy Space Center Director Bob Cabana listens as a student from University of Colorado describes a robotic capability for growing a variety of plants, both for consumption as well as the benefit of oxygen-carbon dioxide cycling. Considerations range from monitoring and nutrient supply to selection of plants and autonomy. The activity is part of the eXploration Habitat, or X-Hab, Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in Science, Technology, Engineering and Math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Jim Grossmann

The Resurrection of Malthus: space as the final escape from the law of diminishing returns

NASA Astrophysics Data System (ADS)

Sommers, J.; Beldavs, V.

2017-09-01

If there is a self-sustaining space economy, which is the goal of the International Lunar Decade, then it is a subject of economic analysis. The immediate challenge of space economics then is to conceptually demonstrate how a space economy could emerge and work where markets do not exist and few human agents may be involved, in fact where human agents may transact with either human agents or robotic agents or robotic agents may transact with other robotic agents.

NASA's advanced space transportation system launch vehicles

NASA Technical Reports Server (NTRS)

Branscome, Darrell R.

1991-01-01

Some insight is provided into the advanced transportation planning and systems that will evolve to support long term mission requirements. The general requirements include: launch and lift capacity to low earth orbit (LEO); space based transfer systems for orbital operations between LEO and geosynchronous equatorial orbit (GEO), the Moon, and Mars; and Transfer vehicle systems for long duration deep space probes. These mission requirements are incorporated in the NASA Civil Needs Data Base. To accomplish these mission goals, adequate lift capacity to LEO must be available: to support science and application missions; to provide for construction of the Space Station Freedom; and to support resupply of personnel and supplies for its operations. Growth in lift capacity must be time phased to support an expanding mission model that includes Freedom Station, the Mission to Planet Earth, and an expanded robotic planetary program. The near term increase in cargo lift capacity associated with development of the Shuttle-C is addressed. The joint DOD/NASA Advanced Launch System studies are focused on a longer term new cargo capability that will significantly reduce costs of placing payloads in space.

New ultrasensitive pickup device for deep-sea robots: underwater super-HARP color TV camera

NASA Astrophysics Data System (ADS)

Maruyama, Hirotaka; Tanioka, Kenkichi; Uchida, Tetsuo

1994-11-01

An ultra-sensitive underwater super-HARP color TV camera has been developed. The characteristics -- spectral response, lag, etc. -- of the super-HARP tube had to be designed for use underwater because the propagation of light in water is very different from that in air, and also depends on the light's wavelength. The tubes have new electrostatic focusing and magnetic deflection functions and are arranged in parallel to miniaturize the camera. A deep sea robot (DOLPHIN 3K) was fitted with this camera and used for the first sea test in Sagami Bay, Japan. The underwater visual information was clear enough to promise significant improvements in both deep sea surveying and safety. It was thus confirmed that the Super- HARP camera is very effective for underwater use.

[Robotic prostatectomy: The anesthetist's view for robotic urological surgeries, a prospective study].

PubMed

Oksar, Menekse; Akbulut, Ziya; Ocal, Hakan; Balbay, Mevlana Derya; Kanbak, Orhan

2014-01-01

Although many features of robotic prostatectomy are similar to those of conventional laparoscopic urological procedures (such as laparoscopic prostatectomy), the procedure is associated with some drawbacks, which include limited intravenous access, relatively long operating time, deep Trendelenburg position, and high intra-abdominal pressure. The primary aim was to describe respiratory and hemodynamic challenges and the complications related to high intra-abdominal pressure and the deep Trendelenburg position in robotic prostatectomy patients. The secondary aim was to reveal safe discharge criteria from the operating room. Fifty-three patients who underwent robotic prostatectomy between December 2009 and January 2011 were prospectively enrolled. Main outcome measures were non-invasive monitoring, invasive monitoring and blood gas analysis performed at supine (T0), Trendelenburg (T1), Trendelenburg + pneumoperitoneum (T2), Trendelenburg-before desufflation (T3), Trendelenburg (after desufflation) (T4), and supine (T5) positions. Fifty-three robotic prostatectomy patients were included in the study. The main clinical challenge in our study group was the choice of ventilation strategy to manage respiratory acidosis, which is detected through end-tidal carbon dioxide pressure and blood gas analysis. Furthermore, the mean arterial pressure remained unchanged, the heart rate decreased significantly and required intervention. The central venous pressure values were also above the normal limits. Respiratory acidosis and "upper airway obstruction-like" clinical symptoms were the main challenges associated with robotic prostatectomy procedures during this study. Copyright © 2013 Sociedade Brasileira de Anestesiologia. Publicado por Elsevier Editora Ltda. All rights reserved.

Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

NASA Astrophysics Data System (ADS)

Rembala, Richard; Ower, Cameron

2009-10-01

MDA has provided 25 years of real-time engineering support to Shuttle (Canadarm) and ISS (Canadarm2) robotic operations beginning with the second shuttle flight STS-2 in 1981. In this capacity, our engineering support teams have become familiar with the evolution of mission planning and flight support practices for robotic assembly and support operations at mission control. This paper presents observations on existing practices and ideas to achieve reduced operational overhead to present programs. It also identifies areas where robotic assembly and maintenance of future space stations and space-based facilities could be accomplished more effectively and efficiently. Specifically, our experience shows that past and current space Shuttle and ISS assembly and maintenance operations have used the approach of extensive preflight mission planning and training to prepare the flight crews for the entire mission. This has been driven by the overall communication latency between the earth and remote location of the space station/vehicle as well as the lack of consistent robotic and interface standards. While the early Shuttle and ISS architectures included robotics, their eventual benefits on the overall assembly and maintenance operations could have been greater through incorporating them as a major design driver from the beginning of the system design. Lessons learned from the ISS highlight the potential benefits of real-time health monitoring systems, consistent standards for robotic interfaces and procedures and automated script-driven ground control in future space station assembly and logistics architectures. In addition, advances in computer vision systems and remote operation, supervised autonomous command and control systems offer the potential to adjust the balance between assembly and maintenance tasks performed using extra vehicular activity (EVA), extra vehicular robotics (EVR) and EVR controlled from the ground, offloading the EVA astronaut and even the robotic operator on-orbit of some of the more routine tasks. Overall these proposed approaches when used effectively offer the potential to drive down operations overhead and allow more efficient and productive robotic operations.

Intelligent robotics can boost America's economic growth

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

1990-01-01

In April 1985, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). The progress made by Levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology are described. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 9, the Flight Telerobotic Servicer, the Advanced Development Program, and the Data Management System. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom.

Robonaut: a robot designed to work with humans in space

NASA Technical Reports Server (NTRS)

Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

2003-01-01

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Robonaut: a robot designed to work with humans in space.

PubMed

Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

2003-01-01

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Automation and robotics for the Space Exploration Initiative: Results from Project Outreach

NASA Technical Reports Server (NTRS)

Gonzales, D.; Criswell, D.; Heer, E.

1991-01-01

A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

NASA Technical Reports Server (NTRS)

Stevens, H. D.; Miles, E. S.; Rock, S. J.; Cannon, R. H.

1994-01-01

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

User Needs, Benefits, and Integration of Robotic Systems in a Space Station Laboratory

NASA Technical Reports Server (NTRS)

Dodd, W. R.; Badgley, M. B.; Konkel, C. R.

1989-01-01

The methodology, results and conclusions of all tasks of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in a Space Station Laboratory are summarized. Study goals included the determination of user requirements for robotics within the Space Station, United States Laboratory. In Task 1, three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. In Task 2, a NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of microgravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz) and Level 2 (less than equal 10-6 G at 0.1 Hz). This task included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in Task 3 in order to determine their ability to perform a range of tasks related to the three microgravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements for an orbital flight demonstration were determined in Task 4. Task 5 assessed the impact of robotics.

Internet Technologies for Space-based Communications: State of the Art and Challenges

NASA Technical Reports Server (NTRS)

Bhasin, K.; DePaula, R.; Edwards, C.

2000-01-01

The Internet is rapidly changing the ways we communicate information around the globe today. The desire to provide Internet-based services to anyone, anywhere, anytime has brought satellite communications to the forefront to become an integral part of the Internet. In spite of the distances involved, satellite links are proving to be capable of providing Internet services based on Internet protocol (TCP/IP) stack. This development has led to the question particularly at NASA; can satellites and other space platforms become an Internet-node in space? This will allow the direct transfer of information directly from space to the users on Earth and even be able to control the spacecraft and its instruments. NASA even wants to extend the near earth space Internet to deep space applications where scientists and the public here on Earth may view space exploration in real time via the Internet. NASA's future solar system exploration will involve intensive in situ investigations of planets, moons, asteroids, and comets. While past missions typically involved a single fly-by or orbiting science spacecraft, future missions will begin to use fleets of small, highly intelligent robotic vehicles to carry out collaborative investigations. The resulting multi-spacecraft topologies will effectively create a wide area network spanning the solar system. However, this will require significant development in Internet technologies for space use. This paper provides the status'of the Internet for near earth applications and the potential extension of the Internet for use in deep space planetary exploration. The paper will discuss the overall challenges of implementing the space Internet and how the space Internet will integrate into the complex terrestrial systems those forms the Internet of today in a hybrid set of networks. Internet. We envision extending to the deep space environment such Internet concepts as a well-designed layered architecture. This effort will require an ability to develop and infuse new physical layer technology to increase network bandwidth at very low-bit error rates. In addition, we identify network technologies such as routers and switches needed to maintain standard application layer interfaces, while providing low-cost, efficient, modular networking solutions. We will describe the overall architectural approach to extending the concept of the Internet to space and highlight the important technological challenges and initiatives that will make it a reality.

Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.

Astrobee Guest Science

NASA Technical Reports Server (NTRS)

Barlow, Jonathan; Benavides, Jose; Provencher, Chris; Bualat, Maria; Smith, Marion F.; Mora Vargas, Andres

2017-01-01

At the end of 2017, Astrobee will launch three free-flying robots that will navigate the entire US segment of the ISS (International Space Station) and serve as a payload facility. These robots will provide guest science payloads with processor resources, space within the robot for physical attachment, power, communication, propulsion, and human interfaces.

TRICCS: A proposed teleoperator/robot integrated command and control system for space applications

NASA Technical Reports Server (NTRS)

Will, R. W.

1985-01-01

Robotic systems will play an increasingly important role in space operations. An integrated command and control system based on the requirements of space-related applications and incorporating features necessary for the evolution of advanced goal-directed robotic systems is described. These features include: interaction with a world model or domain knowledge base, sensor feedback, multiple-arm capability and concurrent operations. The system makes maximum use of manual interaction at all levels for debug, monitoring, and operational reliability. It is shown that the robotic command and control system may most advantageously be implemented as packages and tasks in Ada.

The Design, Planning and Control of Robotic Systems in Space

NASA Technical Reports Server (NTRS)

Dubowsky, Steven

1996-01-01

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics.

IVA the robot: Design guidelines and lessons learned from the first space station laboratory manipulation system

NASA Technical Reports Server (NTRS)

Konkel, Carl R.; Powers, Allen K.; Dewitt, J. Russell

1991-01-01

The first interactive Space Station Freedom (SSF) lab robot exhibit was installed at the Space and Rocket Center in Huntsville, AL, and has been running daily since. IntraVehicular Activity (IVA) the robot is mounted in a full scale U.S. Lab (USL) mockup to educate the public on possible automation and robotic applications aboard the SSF. Responding to audio and video instructions at the Command Console, exhibit patrons may prompt IVA to perform a housekeeping task or give a speaking tour of the module. Other exemplary space station tasks are simulated and the public can even challenge IVA to a game of tic tac toe. In anticipation of such a system being built for the Space Station, a discussion is provided of the approach taken, along with suggestions for applicability to the Space Station Environment.

Space environments and their effects on space automation and robotics

NASA Technical Reports Server (NTRS)

Garrett, Henry B.

1990-01-01

Automated and robotic systems will be exposed to a variety of environmental anomalies as a result of adverse interactions with the space environment. As an example, the coupling of electrical transients into control systems, due to EMI from plasma interactions and solar array arcing, may cause spurious commands that could be difficult to detect and correct in time to prevent damage during critical operations. Spacecraft glow and space debris could introduce false imaging information into optical sensor systems. The presentation provides a brief overview of the primary environments (plasma, neutral atmosphere, magnetic and electric fields, and solid particulates) that cause such adverse interactions. The descriptions, while brief, are intended to provide a basis for the other papers presented at this conference which detail the key interactions with automated and robotic systems. Given the growing complexity and sensitivity of automated and robotic space systems, an understanding of adverse space environments will be crucial to mitigating their effects.

User needs, benefits and integration of robotic systems in a space station laboratory

NASA Technical Reports Server (NTRS)

Farnell, K. E.; Richard, J. A.; Ploge, E.; Badgley, M. B.; Konkel, C. R.; Dodd, W. R.

1989-01-01

The methodology, results and conclusions of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in the Space Station Microgravity and Materials Processing Facility are summarized. Study goals include the determination of user requirements for robotics within the Space Station, United States Laboratory. Three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. A NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of low gravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz.) and Level 2 (less than = 10-6 G at 0.1 Hz). This included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in order to determine their ability to perform a range of tasks related to the three low gravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements were determined such that definition of requirements for an orbital flight demonstration experiment may be established.

A simple 5-DOF walking robot for space station application

NASA Technical Reports Server (NTRS)

Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

1991-01-01

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

Control strategy for a dual-arm maneuverable space robot

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1987-01-01

A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.

Application of dexterous space robotics technology to myoelectric prostheses

NASA Astrophysics Data System (ADS)

Hess, Clifford; Li, Larry C. H.; Farry, Kristin A.; Walker, Ian D.

1994-02-01

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work.

Application of dexterous space robotics technology to myoelectric prostheses

NASA Technical Reports Server (NTRS)

Hess, Clifford; Li, Larry C. H.; Farry, Kristin A.; Walker, Ian D.

1994-01-01

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work.

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

Physical and digital simulations for IVA robotics

NASA Technical Reports Server (NTRS)

Hinman, Elaine; Workman, Gary L.

1992-01-01

Space based materials processing experiments can be enhanced through the use of IVA robotic systems. A program to determine requirements for the implementation of robotic systems in a microgravity environment and to develop some preliminary concepts for acceleration control of small, lightweight arms has been initiated with the development of physical and digital simulation capabilities. The physical simulation facilities incorporate a robotic workcell containing a Zymark Zymate II robot instrumented for acceleration measurements, which is able to perform materials transfer functions while flying on NASA's KC-135 aircraft during parabolic manuevers to simulate reduced gravity. Measurements of accelerations occurring during the reduced gravity periods will be used to characterize impacts of robotic accelerations in a microgravity environment in space. Digital simulations are being performed with TREETOPS, a NASA developed software package which is used for the dynamic analysis of systems with a tree topology. Extensive use of both simulation tools will enable the design of robotic systems with enhanced acceleration control for use in the space manufacturing environment.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1992-01-01

Described here is the progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis was placed on the Space Station Freedom program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) Progress Report 13, and issues of A&R implementation into the payload operations integration Center at Marshall Space Flight Center. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Space station as a vital focus for advancing the technologies of automation and robotics

NASA Technical Reports Server (NTRS)

Varsi, Giulio; Herman, Daniel H.

1988-01-01

A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

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.

GeoLab: A Geological Workstation for Future Missions

NASA Technical Reports Server (NTRS)

Evans, Cynthia; Calaway, Michael; Bell, Mary Sue; Li, Zheng; Tong, Shuo; Zhong, Ye; Dahiwala, Ravi

2014-01-01

The GeoLab glovebox was, until November 2012, fully integrated into NASA's Deep Space Habitat (DSH) Analog Testbed. The conceptual design for GeoLab came from several sources, including current research instruments (Microgravity Science Glovebox) used on the International Space Station, existing Astromaterials Curation Laboratory hardware and clean room procedures, and mission scenarios developed for earlier programs. GeoLab allowed NASA scientists to test science operations related to contained sample examination during simulated exploration missions. The team demonstrated science operations that enhance theThe GeoLab glovebox was, until November 2012, fully integrated into NASA's Deep Space Habitat (DSH) Analog Testbed. The conceptual design for GeoLab came from several sources, including current research instruments (Microgravity Science Glovebox) used on the International Space Station, existing Astromaterials Curation Laboratory hardware and clean room procedures, and mission scenarios developed for earlier programs. GeoLab allowed NASA scientists to test science operations related to contained sample examination during simulated exploration missions. The team demonstrated science operations that enhance the early scientific returns from future missions and ensure that the best samples are selected for Earth return. The facility was also designed to foster the development of instrument technology. Since 2009, when GeoLab design and construction began, the GeoLab team [a group of scientists from the Astromaterials Acquisition and Curation Office within the Astromaterials Research and Exploration Science (ARES) Directorate at JSC] has progressively developed and reconfigured the GeoLab hardware and software interfaces and developed test objectives, which were to 1) determine requirements and strategies for sample handling and prioritization for geological operations on other planetary surfaces, 2) assess the scientific contribution of selective in-situ sample characterization for mission planning, operations, and sample prioritization, 3) evaluate analytical instruments and tools for providing efficient and meaningful data in advance of sample return and 4) identify science operations that leverage human presence with robotic tools. In the first year of tests (2010), GeoLab examined basic glovebox operations performed by one and two crewmembers and science operations performed by a remote science team. The 2010 tests also examined the efficacy of basic sample characterization [descriptions, microscopic imagery, X-ray fluorescence (XRF) analyses] and feedback to the science team. In year 2 (2011), the GeoLab team tested enhanced software and interfaces for the crew and science team (including Web-based and mobile device displays) and demonstrated laboratory configurability with a new diagnostic instrument (the Multispectral Microscopic Imager from the JPL and Arizona State University). In year 3 (2012), the GeoLab team installed and tested a robotic sample manipulator and evaluated robotic-human interfaces for science operations.

Hands-On Experiences of Undergraduate Students in Automatics and Robotics Using a Virtual and Remote Laboratory

ERIC Educational Resources Information Center

Jara, Carlos A.; Candelas, Francisco A.; Puente, Santiago T.; Torres, Fernando

2011-01-01

Automatics and Robotics subjects are always greatly improved when classroom teaching is supported by adequate laboratory courses and experiments following the "learning by doing" paradigm, which provides students a deep understanding of theoretical lessons. However, expensive equipment and limited time prevent teachers having sufficient…

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

2018-01-01

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

Status of robotic mission studies for the Space Exploration Initiative - 1991

NASA Technical Reports Server (NTRS)

Bourke, Roger D.; Dias, William C.; Golombek, Matthew P.; Pivirotto, Donna L.; Sturms, Francis M.; Hubbard, G. S.

1991-01-01

Results of studies of robotic missions to the moon and Mars planned under the U.S. Space Exploration Initiative are summarized. First, an overall strategy for small robotic missions to accomplish the information gathering required by human missions is reviewed, and the principal robotic mission requirements are discussed. The discussion covers the following studies: the Lunar Observer, the Mars Environmental Survey mission, Mars Sample Return missions using microtechnology, and payloads.

Astrobee: Space Station Robotic Free Flyer

NASA Technical Reports Server (NTRS)

Provencher, Chris; Bualat, Maria G.; Barlow, Jonathan; Fong, Terrence W.; Smith, Marion F.; Smith, Ernest E.; Sanchez, Hugo S.

2016-01-01

Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.

Construction of multi-agent mobile robots control system in the problem of persecution with using a modified reinforcement learning method based on neural networks

NASA Astrophysics Data System (ADS)

Patkin, M. L.; Rogachev, G. N.

2018-02-01

A method for constructing a multi-agent control system for mobile robots based on training with reinforcement using deep neural networks is considered. Synthesis of the management system is proposed to be carried out with reinforcement training and the modified Actor-Critic method, in which the Actor module is divided into Action Actor and Communication Actor in order to simultaneously manage mobile robots and communicate with partners. Communication is carried out by sending partners at each step a vector of real numbers that are added to the observation vector and affect the behaviour. Functions of Actors and Critic are approximated by deep neural networks. The Critics value function is trained by using the TD-error method and the Actor’s function by using DDPG. The Communication Actor’s neural network is trained through gradients received from partner agents. An environment in which a cooperative multi-agent interaction is present was developed, computer simulation of the application of this method in the control problem of two robots pursuing two goals was carried out.

View of the "handshake" of the SLP between the SSRMS and RMS during STS-100

NASA Image and Video Library

2001-04-28

S100-E-5898 (28 April 2001) --- A STS-100 crew member with a digital still camera recorded this image of an historical event through an overhead window on the aft flight deck of the Space Shuttle Endeavour. A Canadian “handshake in space” occurred at 4:02 p.m (CDT), April 28, 2001, as the Canadian-built space station robotic arm – operated by Expedition Two flight engineer Susan J. Helms –transferred its launch cradle over to Endeavour’s robotic arm, with Canadian Space Agency astronaut Chris A. Hadfield at the controls. The exchange of the pallet from station arm to shuttle arm marked the first ever robotic-to-robotic transfer in space.

Technology demonstration of space intravehicular automation and robotics

NASA Technical Reports Server (NTRS)

Morris, A. Terry; Barker, L. Keith

1994-01-01

Automation and robotic technologies are being developed and capabilities demonstrated which would increase the productivity of microgravity science and materials processing in the space station laboratory module, especially when the crew is not present. The Automation Technology Branch at NASA Langley has been working in the area of intravehicular automation and robotics (IVAR) to provide a user-friendly development facility, to determine customer requirements for automated laboratory systems, and to improve the quality and efficiency of commercial production and scientific experimentation in space. This paper will describe the IVAR facility and present the results of a demonstration using a simulated protein crystal growth experiment inside a full-scale mockup of the space station laboratory module using a unique seven-degree-of-freedom robot.

Autonomous planetary rover at Carnegie Mellon

NASA Technical Reports Server (NTRS)

Whittaker, William; Kanade, Takeo; Mitchell, Tom

1990-01-01

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Research on Robot Pose Control Technology Based on Kinematics Analysis Model

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the attitude stability of the robot, proposes an attitude control method of robot based on kinematics analysis model, solve the robot walking posture transformation, grasping and controlling the motion planning problem of robot kinematics. In Cartesian space analytical model, using three axis accelerometer, magnetometer and the three axis gyroscope for the combination of attitude measurement, the gyroscope data from Calman filter, using the four element method for robot attitude angle, according to the centroid of the moving parts of the robot corresponding to obtain stability inertia parameters, using random sampling RRT motion planning method, accurate operation to any position control of space robot, to ensure the end effector along a prescribed trajectory the implementation of attitude control. The accurate positioning of the experiment is taken using MT-R robot as the research object, the test robot. The simulation results show that the proposed method has better robustness, and higher positioning accuracy, and it improves the reliability and safety of robot operation.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

1990-01-01

The progress made by levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology is described. Emphasis is placed upon the Space Station Freedom Program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) progress report 10, the flight telerobotic servicer, and the Advanced Development Program. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom.

ARC-2009-ACD09-0143-071

NASA Image and Video Library

2009-07-17

International Space University (ISU - 2009) students participated in a Robotic Competition at NASA'A Ames Research Center, Moffett Field, Calif. This panel featured astronauts from four different space agencies with different areas of expertice and diverse perspectives. A student-built robot rolls across the obstacle course. A student-built robot rolls across the obstacle course.

Exploring the effects of dimensionality reduction in deep networks for force estimation in robotic-assisted surgery

NASA Astrophysics Data System (ADS)

Aviles, Angelica I.; Alsaleh, Samar; Sobrevilla, Pilar; Casals, Alicia

2016-03-01

Robotic-Assisted Surgery approach overcomes the limitations of the traditional laparoscopic and open surgeries. However, one of its major limitations is the lack of force feedback. Since there is no direct interaction between the surgeon and the tissue, there is no way of knowing how much force the surgeon is applying which can result in irreversible injuries. The use of force sensors is not practical since they impose different constraints. Thus, we make use of a neuro-visual approach to estimate the applied forces, in which the 3D shape recovery together with the geometry of motion are used as input to a deep network based on LSTM-RNN architecture. When deep networks are used in real time, pre-processing of data is a key factor to reduce complexity and improve the network performance. A common pre-processing step is dimensionality reduction which attempts to eliminate redundant and insignificant information by selecting a subset of relevant features to use in model construction. In this work, we show the effects of dimensionality reduction in a real-time application: estimating the applied force in Robotic-Assisted Surgeries. According to the results, we demonstrated positive effects of doing dimensionality reduction on deep networks including: faster training, improved network performance, and overfitting prevention. We also show a significant accuracy improvement, ranging from about 33% to 86%, over existing approaches related to force estimation.

Design of small Stirling dynamic isotope power system for robotic space missions

NASA Technical Reports Server (NTRS)

Bents, D. J.; Schreiber, J. G.; Withrow, C. A.; Mckissock, B. I.; Schmitz, P. C.

1992-01-01

Design of a multihundred-watt Dynamic Isotope Power System (DIPS) based on the U.S. Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) technology is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. Unlike previous DIPS designs which were based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled down to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Preliminary characterization of units in the output power ranges 200-600 We indicate that on an electrical watt basis the GPHS/small Stirling DIPS will be roughly equivalent to an advanced RTG in size and mass but require less than a third of the isotope inventory.

SLS Resource Reel Aug 2016 orig

NASA Image and Video Library

2016-07-04

Space Launch System Resource Reel Description: This video includes launch animation of NASA’s Space Launch System (SLS), as well as work taking place across NASA centers and the country to build and test the various components that make up the rocket including: the 5-segment solid rocket boosters, the RS-25 rocket engines, the massive tanks that make up the Core Stage of the rocket that fuels the RS-25 engines, and upper portions of the rocket that connect the interim cryogenic propulsion stage to the Orion spacecraft. SLS, is an advanced launch vehicle for a new era of exploration beyond Earth’s orbit into deep space. SLS, the world’s most powerful rocket, will launch astronauts in the agency’s Orion spacecraft on missions to an asteroid and eventually to Mars, while opening new possibilities for other payloads including robotic scientific missions to places like Mars, Saturn and Jupiter. Graphic Information: PAO Name:Kim Henry Phone Number:256-544-1899 Email Address: kimberly.m.henry@nasa.gov

KSC-06pd0479

NASA Image and Video Library

2006-03-14

KENNEDY SPACE CENTER, FLA. - Inside the Orbiter Processing Facility bay 3 at NASA's Kennedy Space Center, workers attach an overhead crane to Discovery's robotic arm in the payload bay. The arm is being removed due to damage found on the arm after it was accidentally bumped by a bridge bucket in the payload bay. Ultrasound inspections revealed a small crack, measuring 1.25 inches by 0.015 inch deep. The arm will be sent back to the vendor for repair. The bucket was being used by technicians cleaning the area and was in the process of being stowed. A bridge bucket is a personnel transport device that is suspended from an overhead bridge that moves back and forth above the shuttle's mid-body. It allows workers to access the payload bay area without walking or standing on the payload bay floor or on the fixed platforms. Space Shuttle Discovery is scheduled for launch on mission STS-121 during a launch planning window of July 1-19. Photo credit: NASA/Kim Shiflett

KSC-06pd0484

NASA Image and Video Library

2006-03-14

KENNEDY SPACE CENTER, FLA. - Inside the Orbiter Processing Facility bay 3 at NASA's Kennedy Space Center, workers lower Discovery's robotic arm onto a flat bed in a work area. The arm was removed from Discovery's payload bay. The arm was removed due to damage found on the arm after it was accidentally bumped by a bridge bucket in the payload bay. Ultrasound inspections revealed a small crack, measuring 1.25 inches by 0.015 inch deep. The arm will be sent back to the vendor for repair. The bucket was being used by technicians cleaning the area and was in the process of being stowed. A bridge bucket is a personnel transport device that is suspended from an overhead bridge that moves back and forth above the shuttle's mid-body. It allows workers to access the payload bay area without walking or standing on the payload bay floor or on the fixed platforms. Space Shuttle Discovery is scheduled for launch on mission STS-121 during a launch planning window of July 1-19. Photo credit: NASA/Kim Shiflett

Large-scale deep learning for robotically gathered imagery for science

NASA Astrophysics Data System (ADS)

Skinner, K.; Johnson-Roberson, M.; Li, J.; Iscar, E.

2016-12-01

With the explosion of computing power, the intelligence and capability of mobile robotics has dramatically increased over the last two decades. Today, we can deploy autonomous robots to achieve observations in a variety of environments ripe for scientific exploration. These platforms are capable of gathering a volume of data previously unimaginable. Additionally, optical cameras, driven by mobile phones and consumer photography, have rapidly improved in size, power consumption, and quality making their deployment cheaper and easier. Finally, in parallel we have seen the rise of large-scale machine learning approaches, particularly deep neural networks (DNNs), increasing the quality of the semantic understanding that can be automatically extracted from optical imagery. In concert this enables new science using a combination of machine learning and robotics. This work will discuss the application of new low-cost high-performance computing approaches and the associated software frameworks to enable scientists to rapidly extract useful science data from millions of robotically gathered images. The automated analysis of imagery on this scale opens up new avenues of inquiry unavailable using more traditional manual or semi-automated approaches. We will use a large archive of millions of benthic images gathered with an autonomous underwater vehicle to demonstrate how these tools enable new scientific questions to be posed.

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

2018-04-01

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.

Development of automation and robotics for space via computer graphic simulation methods

NASA Technical Reports Server (NTRS)

Fernandez, Ken

1988-01-01

A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

Space Station Crew Member Discusses Robotics with Puerto Rican Students

NASA Image and Video Library

2018-01-12

Aboard the International Space Station, Expedition 54 Flight Engineer Joe Acaba of NASA discussed various elements of robotic hardware and robotic work on the orbital laboratory during an in-flight educational event Jan. 12 with students gathered at the Puerto Rico Institute of Robotics in San Juan, Puerto Rico. Acaba, who has roots in Puerto Rico, is scheduled to return to Earth in late February to complete a five-and-a-half month mission.

Planning Paths Through Singularities in the Center of Mass Space

NASA Technical Reports Server (NTRS)

Doggett, William R.; Messner, William C.; Juang, Jer-Nan

1998-01-01

The center of mass space is a convenient space for planning motions that minimize reaction forces at the robot's base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multiple robot joint configurations. The existence of multiple images results in a need to either maintain multiple center of mass obstacle maps or to update obstacle locations when the robot passes through a singularity, such as when it moves from an elbow-up to an elbow-down configuration. To illustrate the concepts presented in this paper, a path is planned for an example task requiring motion through multiple center of mass space maps. The object of the path planning algorithm is to locate the bang- bang acceleration profile that minimizes the robot's base reactions in the presence of a single Cartesian obstacle. To simplify the presentation, only non-redundant robots are considered and joint non-linearities are neglected.

A novel design for a hybrid space manipulator

NASA Technical Reports Server (NTRS)

Shahinpoor, MO

1991-01-01

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision.

NASA's Space Launch System: Progress Report

NASA Technical Reports Server (NTRS)

Cook, Jerry; Lyles, Garry

2017-01-01

After more than four decades exploring the space environment from low Earth orbit and developing long-duration spaceflight operational experience with the International Space Station (ISS), NASA is once again preparing to send explorers into deep space. Development, test and manufacturing is now underway on the launch vehicle, the crew spacecraft and the ground processing and launch facilities to support human and robotic missions to the moon, Mars and the outer solar system. The enabling launch vehicle for these ambitious new missions is the Space Launch System (SLS), managed by NASA's Marshall Space Flight Center (MSFC). Since the program began in 2011, the design has passed Critical Design Review, and extensive development, test and flight hardware has been produced by every major element of the SLS vehicle. Testing continues on engines, boosters, tanks and avionics. While the program has experienced engineering challenges typical of a new development, it continues to make steady progress toward the first SLS mission in roughly two years and a sustained cadence of missions thereafter. This paper will discuss these and other technical and SLS programmatic successes and challenges over the past year and provide a preview of work ahead before first flight.

Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic

NASA Technical Reports Server (NTRS)

Weaver, Johnathan M.

1993-01-01

A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.

Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

NASA Astrophysics Data System (ADS)

Shi, Chengkun; Sun, Hanxu; Jia, Qingxuan; Zhao, Kailiang

2009-05-01

For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.

Robotic Materials Handling in Space: Mechanical Design of the Robot Operated Materials Processing System HitchHiker Experiment

NASA Technical Reports Server (NTRS)

Voellmer, George

1997-01-01

The Goddard Space Flight Center has developed the Robot Operated Materials Processing System (ROMPS) that flew aboard STS-64 in September, 1994. The ROMPS robot transported pallets containing wafers of different materials from their storage racks to a furnace for thermal processing. A system of tapered guides and compliant springs was designed to deal with the potential misalignments. The robot and all the sample pallets were locked down for launch and landing. The design of the passive lockdown system, and the interplay between it and the alignment system are presented.

A Modular Robotic System with Applications to Space Exploration

NASA Technical Reports Server (NTRS)

Hancher, Matthew D.; Hornby, Gregory S.

2006-01-01

Modular robotic systems offer potential advantages as versatile, fault-tolerant, cost-effective platforms for space exploration, but a sufficiently mature system is not yet available. We describe the possible applications of such a system, and present prototype hardware intended as a step in the right direction. We also present elements of an automated design and optimization framework aimed at making modular robots easier to design and use, and discuss the results of applying the system to a gait optimization problem. Finally, we discuss the potential near-term applications of modular robotics to terrestrial robotics research.

Tandem robot control system and method for controlling mobile robots in tandem

DOEpatents

Hayward, David R.; Buttz, James H.; Shirey, David L.

2002-01-01

A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Selected topics in robotics for space exploration

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C. (Editor); Kaufman, Howard (Editor)

1993-01-01

Papers and abstracts included represent both formal presentations and experimental demonstrations at the Workshop on Selected Topics in Robotics for Space Exploration which took place at NASA Langley Research Center, 17-18 March 1993. The workshop was cosponsored by the Guidance, Navigation, and Control Technical Committee of the NASA Langley Research Center and the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) at RPI, Troy, NY. Participation was from industry, government, and other universities with close ties to either Langley Research Center or to CIRSSE. The presentations were very broad in scope with attention given to space assembly, space exploration, flexible structure control, and telerobotics.

Ground Robotic Hand Applications for the Space Program study (GRASP)

NASA Astrophysics Data System (ADS)

Grissom, William A.; Rafla, Nader I.

1992-04-01

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Ground Robotic Hand Applications for the Space Program study (GRASP)

NASA Technical Reports Server (NTRS)

Grissom, William A.; Rafla, Nader I. (Editor)

1992-01-01

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Optimizing Design Parameters for Sets of Concentric Tube Robots using Sampling-based Motion Planning.

PubMed

Baykal, Cenk; Torres, Luis G; Alterovitz, Ron

2015-09-28

Concentric tube robots are tentacle-like medical robots that can bend around anatomical obstacles to access hard-to-reach clinical targets. The component tubes of these robots can be swapped prior to performing a task in order to customize the robot's behavior and reachable workspace. Optimizing a robot's design by appropriately selecting tube parameters can improve the robot's effectiveness on a procedure-and patient-specific basis. In this paper, we present an algorithm that generates sets of concentric tube robot designs that can collectively maximize the reachable percentage of a given goal region in the human body. Our algorithm combines a search in the design space of a concentric tube robot using a global optimization method with a sampling-based motion planner in the robot's configuration space in order to find sets of designs that enable motions to goal regions while avoiding contact with anatomical obstacles. We demonstrate the effectiveness of our algorithm in a simulated scenario based on lung anatomy.

Robotic Refueling Mission-3 Arrival and Processing

NASA Image and Video Library

2018-05-08

NASA’s Robotic Refueling Mission 3 (RRM3) arrived at Kennedy Space Center’s Space Station Processing Facility on May 8. The fluid transfer module will demonstrate innovative methods to store, transfer and freeze standard cryogenic fluid in space. RRM3 is scheduled to launch to the International Space Station later this year.

Control of intelligent robots in space

NASA Technical Reports Server (NTRS)

Freund, E.; Buehler, CH.

1989-01-01

In view of space activities like International Space Station, Man-Tended-Free-Flyer (MTFF) and free flying platforms, the development of intelligent robotic systems is gaining increasing importance. The range of applications that have to be performed by robotic systems in space includes e.g., the execution of experiments in space laboratories, the service and maintenance of satellites and flying platforms, the support of automatic production processes or the assembly of large network structures. Some of these tasks will require the development of bi-armed or of multiple robotic systems including functional redundancy. For the development of robotic systems which are able to perform this variety of tasks a hierarchically structured modular concept of automation is required. This concept is characterized by high flexibility as well as by automatic specialization to the particular sequence of tasks that have to be performed. On the other hand it has to be designed such that the human operator can influence or guide the system on different levels of control supervision, and decision. This leads to requirements for the hardware and software concept which permit a range of application of the robotic systems from telemanipulation to autonomous operation. The realization of this goal requires strong efforts in the development of new methods, software and hardware concepts, and the integration into an automation concept.

NASA Tests New Robotic Refueling Technologies

NASA Image and Video Library

2014-03-05

RROxiTT lead roboticist Alex Janas stands with the Oxidizer Nozzle Tool as he examines the work site. Credit: NASA/Goddard/Chris Gunn NASA has successfully concluded a remotely controlled test of new technologies that would empower future space robots to transfer hazardous oxidizer – a type of propellant – into the tanks of satellites in space today. Concurrently on the ground, NASA is incorporating results from this test and the Robotic Refueling Mission on the International Space Station to prepare for an upcoming ground-based test of a full-sized robotic servicer system that will perform tasks on a mock satellite client. Collectively, these efforts are part of an ongoing and aggressive technology development campaign to equip robots and humans with the tools and capabilities needed for spacecraft maintenance and repair, the assembly of large space telescopes, and extended human exploration. Read more here: www.nasa.gov/content/goddard/nasa-tests-new-robotic-refue... NASA image use policy. NASA Goddard Space Flight Center enables NASA’s mission through four scientific endeavors: Earth Science, Heliophysics, Solar System Exploration, and Astrophysics. Goddard plays a leading role in NASA’s accomplishments by contributing compelling scientific knowledge to advance the Agency’s mission. Follow us on Twitter Like us on Facebook Find us on Instagram

Interaction Challenges in Human-Robot Space Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Nourbakhsh, Illah

2005-01-01

In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.

Mobile robot motion estimation using Hough transform

NASA Astrophysics Data System (ADS)

Aldoshkin, D. N.; Yamskikh, T. N.; Tsarev, R. Yu

2018-05-01

This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot’s range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.

Space Operations Analysis Using the Synergistic Engineering Environment

NASA Technical Reports Server (NTRS)

Angster, Scott; Brewer, Laura

2002-01-01

The Synergistic Engineering Environment has been under development at the NASA Langley Research Center to aid in the understanding of the operations of spacecraft. This is accomplished through the integration of multiple data sets, analysis tools, spacecraft geometric models, and a visualization environment to create an interactive virtual simulation of the spacecraft. Initially designed to support the needs of the International Space Station, the SEE has broadened the scope to include spacecraft ranging from low-earth orbit to deep space missions. Analysis capabilities within the SEE include rigid body dynamics, kinematics, orbital mechanics, and payload operations. This provides the user the ability to perform real-time interactive engineering analyses in areas including flight attitudes and maneuvers, visiting vehicle docking scenarios, robotic operations, plume impingement, field of view obscuration, and alternative assembly configurations. The SEE has been used to aid in the understanding of several operational procedures related to the International Space Station. This paper will address the capabilities of the first build of the SEE, present several use cases of the SEE, and discuss the next build of the SEE.

KSC-03pd1377

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Pictured is equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1383

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - John Reed, co-principal investigator, Harbor Branch Oceanographic Institution, points to the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. A team of scientists will deploy an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The PAMS was originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1388

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A view from inside the pilot house of the Liberty Star overlooks the stern where a team secures lines to underwater research equipment being used on an expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks. The banks are a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

Model Checking JAVA Programs Using Java Pathfinder

NASA Technical Reports Server (NTRS)

Havelund, Klaus; Pressburger, Thomas

2000-01-01

This paper describes a translator called JAVA PATHFINDER from JAVA to PROMELA, the "programming language" of the SPIN model checker. The purpose is to establish a framework for verification and debugging of JAVA programs based on model checking. This work should be seen in a broader attempt to make formal methods applicable "in the loop" of programming within NASA's areas such as space, aviation, and robotics. Our main goal is to create automated formal methods such that programmers themselves can apply these in their daily work (in the loop) without the need for specialists to manually reformulate a program into a different notation in order to analyze the program. This work is a continuation of an effort to formally verify, using SPIN, a multi-threaded operating system programmed in Lisp for the Deep-Space 1 spacecraft, and of previous work in applying existing model checkers and theorem provers to real applications.

Integration of advanced teleoperation technologies for control of space robots

NASA Technical Reports Server (NTRS)

Stagnaro, Michael J.

1993-01-01

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.; Cannon, R. H., Jr.

1985-01-01

The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

The evolution of automation and robotics in manned spaceflight

NASA Technical Reports Server (NTRS)

Moser, T. L.; Erickson, J. D.

1986-01-01

The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

Impacts of Cross-Platform Vicarious Calibration on the Deep Blue Aerosol Retrievals for Moderate Resolution Imaging Spectroradiometer Aboard Terra

NASA Technical Reports Server (NTRS)

Jeong, Myeong-Jae; Hsu, N. Christina; Kwiatkowska, Ewa J.; Franz, Bryan A.; Meister, Gerhard; Salustro, Clare E.

2012-01-01

The retrieval of aerosol properties from spaceborne sensors requires highly accurate and precise radiometric measurements, thus placing stringent requirements on sensor calibration and characterization. For the Terra/Moderate Resolution Imaging Spedroradiometer (MODIS), the characteristics of the detectors of certain bands, particularly band 8 [(B8); 412 nm], have changed significantly over time, leading to increased calibration uncertainty. In this paper, we explore a possibility of utilizing a cross-calibration method developed for characterizing the Terral MODIS detectors in the ocean bands by the National Aeronautics and Space Administration Ocean Biology Processing Group to improve aerosol retrieval over bright land surfaces. We found that the Terra/MODIS B8 reflectance corrected using the cross calibration method resulted in significant improvements for the retrieved aerosol optical thickness when compared with that from the Multi-angle Imaging Spectroradiometer, Aqua/MODIS, and the Aerosol Robotic Network. The method reported in this paper is implemented for the operational processing of the Terra/MODIS Deep Blue aerosol products.

USAR Robot Communication Using ZigBee Technology

NASA Astrophysics Data System (ADS)

Tsui, Charles; Carnegie, Dale; Pan, Qing Wei

This paper reports the successful development of an automatic routing wireless network for USAR (urban search and rescue) robots in an artificial rubble environment. The wireless network was formed using ZigBee modules and each module was attached to a micro-controller in order to model a wireless USAR robot. Proof of concept experiments were carried out by deploying the networked robots into artificial rubble. The rubble was simulated by connecting holes and trenches that were dug in 50 cm deep soil. The simulated robots were placed in the bottom of the holes. The holes and trenches were then covered up by various building materials and soil to simulate a real rubble environment. Experiments demonstrated that a monitoring computer placed 10 meters outside the rubble can establish proper communication with all robots inside the artificial rubble environment.

Deep 'Stone Soup' Trenching by Phoenix

NASA Technical Reports Server (NTRS)

2008-01-01

Digging by NASA's Phoenix Mars Lander on Aug. 23, 2008, during the 88th sol (Martian day) since landing, reached a depth about three times greater than in any trench Phoenix has excavated. The deep trench, informally called 'Stone Soup' is at the borderline between two of the polygon-shaped hummocks that characterize the arctic plain where Phoenix landed.

The lander's Surface Stereo Imager took this picture of Stone Soup trench on Sol 88 after the day's digging. The trench is about 25 centimeters (10 inches) wide and about 18 centimeters (7 inches) deep.

When digging trenches near polygon centers, Phoenix has hit a layer of icy soil, as hard as concrete, about 5 centimeters or 2 inches beneath the ground surface. In the Stone Soup trench at a polygon margin, the digging has not yet hit an icy layer like that.

Stone Soup is toward the left, or west, end of the robotic arm's work area on the north side of the lander.

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

Robotic Manufacturing of 18-ft (5.5m) Diameter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

NASA Technical Reports Server (NTRS)

Jones, Ronald E.; Carter, Robert W.

2012-01-01

The Ares I rocket was the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's Constellation program. A series of full-scale Ares I development articles were constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7- axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This paper will focus on the friction stir welding of 18-ft (5.5m) diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome and two common bulkhead manufacturing development articles.

Thermal Development Test of the NEXT PM1 ION Engine

NASA Technical Reports Server (NTRS)

Anderson, John R.; Snyder, John Steven; Van Noord, Jonathan L.; Soulas, George C.

2007-01-01

NASA's Evolutionary Xenon Thruster (NEXT) is a next-generation high-power ion thruster under development by NASA as a part of the In-Space Propulsion Technology Program. NEXT is designed for use on robotic exploration missions of the solar system using solar electric power. Potential mission destinations that could benefit from a NEXT Solar Electric Propulsion (SEP) system include inner planets, small bodies, and outer planets and their moons. This range of robotic exploration missions generally calls for ion propulsion systems with deep throttling capability and system input power ranging from 0.6 to 25 kW, as referenced to solar array output at 1 Astronomical Unit (AU). Thermal development testing of the NEXT prototype model 1 (PM1) was conducted at JPL to assist in developing and validating a thruster thermal model and assessing the thermal design margins. NEXT PM1 performance prior to, during and subsequent to thermal testing are presented. Test results are compared to the predicted hot and cold environments expected missions and the functionality of the thruster for these missions is discussed.

Thermal Development Test of the NEXT PM1 Ion Engine

NASA Technical Reports Server (NTRS)

Anderson, John R.; Snyder, John S.; VanNoord, Jonathan L.; Soulas, George C.

2010-01-01

NASA's Evolutionary Xenon Thruster (NEXT) is a next-generation high-power ion propulsion system under development by NASA as a part of the In-Space Propulsion Technology Program. NEXT is designed for use on robotic exploration missions of the solar system using solar electric power. Potential mission destinations that could benefit from a NEXT Solar Electric Propulsion (SEP) system include inner planets, small bodies, and outer planets and their moons. This range of robotic exploration missions generally calls for ion propulsion systems with deep throttling capability and system input power ranging from 0.6 to 25 kW, as referenced to solar array output at 1 Astronomical Unit (AU). Thermal development testing of the NEXT prototype model 1 (PM1) was conducted at JPL to assist in developing and validating a thruster thermal model and assessing the thermal design margins. NEXT PM1 performance prior to, during and subsequent to thermal testing are presented. Test results are compared to the predicted hot and cold environments expected missions and the functionality of the thruster for these missions is discussed.

Integrated system for single leg walking

NASA Astrophysics Data System (ADS)

Simmons, Reid; Krotkov, Eric; Roston, Gerry

1990-07-01

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

NASA Technical Reports Server (NTRS)

Zornetzer, Steve; Gage, Douglas

2005-01-01

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

Reducing the Risk of Human Missions to Mars Through Testing

NASA Astrophysics Data System (ADS)

Drake, Bret G.

2007-07-01

During the summer of 2002 the NASA Deputy Administrator charted an internal NASA planning group to develop the rationale for exploration beyond low-Earth orbit. This team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond Low-Earth Orbit through the human exploration of Mars. The previous NASA Exploration Team (NEXT) activities laid the foundation and framework for development of NASA s Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the Stepping Stone approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low- Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars. Following the results of the Exploration Blueprint study, the NASA Administrator has asked for a recommendation by June, 2003 on the next steps in human and robotic exploration in order to put into context an updated Integrated Space Transportation Plan (post- Columbia) and guide Agency planning. NASA was on the verge of committing significant funding in programs that would be better served if longer term goals were better known including the Orbital Space Plane, research on the ISS, National Aerospace Initiative, Shuttle Life Extension Program, Project Prometheus, as well as a wide range of technology development throughout the Agency. Much of the focus during this period was on integrating the results from the previous studies into more concrete implementation strategies in order to understand the relationship between NASA programs, timing, and resulting budgetary implications. This resulted in an integrated approach including lunar surface operations to retire risk of human Mars missions, maximum use of common and modular systems including what was termed the exploration transfer vehicle, Earth orbit and lunar surface demonstrations of long-life systems, collaboration of human and robotic missions to vastly increase mission return, and high-efficiency transportation systems (nuclear) for deep-space transportation and power. The data provided in this summary viewgraph presentation was developed to begin to address one of the key elements of the emerging implementation strategy, namely how lunar missions help retire risk of human missions to Mars. During this process the scope of the activity broadened into the issue of how testing in general, in various venues including the Moon, can help reduce the risk for Mars missions.

Reducing the Risk of Human Missions to Mars Through Testing

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2007-01-01

During the summer of 2002 the NASA Deputy Administrator charted an internal NASA planning group to develop the rationale for exploration beyond low-Earth orbit. This team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond Low-Earth Orbit through the human exploration of Mars. The previous NASA Exploration Team (NEXT) activities laid the foundation and framework for development of NASA s Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the Stepping Stone approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low- Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars. Following the results of the Exploration Blueprint study, the NASA Administrator has asked for a recommendation by June, 2003 on the next steps in human and robotic exploration in order to put into context an updated Integrated Space Transportation Plan (post- Columbia) and guide Agency planning. NASA was on the verge of committing significant funding in programs that would be better served if longer term goals were better known including the Orbital Space Plane, research on the ISS, National Aerospace Initiative, Shuttle Life Extension Program, Project Prometheus, as well as a wide range of technology development throughout the Agency. Much of the focus during this period was on integrating the results from the previous studies into more concrete implementation strategies in order to understand the relationship between NASA programs, timing, and resulting budgetary implications. This resulted in an integrated approach including lunar surface operations to retire risk of human Mars missions, maximum use of common and modular systems including what was termed the exploration transfer vehicle, Earth orbit and lunar surface demonstrations of long-life systems, collaboration of human and robotic missions to vastly increase mission return, and high-efficiency transportation systems (nuclear) for deep-space transportation and power. The data provided in this summary viewgraph presentation was developed to begin to address one of the key elements of the emerging implementation strategy, namely how lunar missions help retire risk of human missions to Mars. During this process the scope of the activity broadened into the issue of how testing in general, in various venues including the Moon, can help reduce the risk for Mars missions.

Towards Supervising Remote Dexterous Robots Across Time Delay

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Bluethmann, William; Goza, Michael; Ambrose, Robert; Wheeler, Kevin; Rabe, Ken

2006-01-01

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 dexterous robots under intermediate time delay is presented, in which software running within a ground control cockpit predicts the intention of an immersed robot supervisor, then the remote robot autonomously executes the supervisor s intended tasks. Initial results are presented.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy

NASA Technical Reports Server (NTRS)

1993-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixteenth in a series of progress updates and covers the period between 15 Sep. 1992 - 16 Mar. 1993. The report describes the progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 15; and includes a status review of Space Station Freedom Launch Processing facilities at Kennedy Space Center. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

A study of space-rated connectors using a robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.

1995-01-01

The main research activities have been directed toward the study of the Robot Operated Materials Processing System (ROMPS), developed at GSFC under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The research activities can be divided into two phases. Phase 1 dealt with testing of ROMPS robot mechanical interfaces and compliant device using a Stewart Platform testbed and Phase 2 with computer simulation study of the ROMPS robot control system. This report provides a summary of the results obtained in Phase 1 and Phase 2.

Initial experiments in thrusterless locomotion control of a free-flying robot

NASA Technical Reports Server (NTRS)

Jasper, W. J.; Cannon, R. H., Jr.

1990-01-01

A two-arm free-flying robot has been constructed to study thrusterless locomotion in space. This is accomplished by pushing off or landing on a large structure in a coordinated two-arm maneuver. A new control method, called system momentum control, allows the robot to follow desired momentum trajectories and thus leap or crawl from one structure to another. The robot floats on an air-cushion, simulating in two dimensions the drag-free zero-g environment of space. The control paradigm has been verified experimentally by commanding the robot to push off a bar with both arms, rotate 180 degrees, and catch itself on another bar.

Robot Would Reconfigure Modular Equipment

NASA Technical Reports Server (NTRS)

Purves, Lloyd R.

1993-01-01

Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.

Space robotic experiment in JEM flight demonstration

NASA Technical Reports Server (NTRS)

Nagatomo, Masanori; Tanaka, Masaki; Nakamura, Kazuyuki; Tsuda, Shinichi

1994-01-01

Japan is collaborating on the multinational space station program. The JEM, Japanese Experiment Module, has both a pressurized module and an Exposed Facility (EF). JEM Remote Manipulator System (JEMRMS) will play a dominant role in handling/servicing payloads and the maintenance of the EF, and consists of two robotic arms, a main arm and a small fine arm. JEM Flight Demonstration (JFD) is a space robotics experiment using the prototype small fine arm to demonstrate its capability, prior to the Space Station operation. The small fine arm will be installed in the Space Shuttle cargo bay and operated by a crew from a dedicated workstation in the Aft Flight Deck of the orbiter.

Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments on monocular distance learning

NASA Astrophysics Data System (ADS)

van Hecke, Kevin; de Croon, Guido C. H. E.; Hennes, Daniel; Setterfield, Timothy P.; Saenz-Otero, Alvar; Izzo, Dario

2017-11-01

Although machine learning holds an enormous promise for autonomous space robots, it is currently not employed because of the inherent uncertain outcome of learning processes. In this article we investigate a learning mechanism, Self-Supervised Learning (SSL), which is very reliable and hence an important candidate for real-world deployment even on safety-critical systems such as space robots. To demonstrate this reliability, we introduce a novel SSL setup that allows a stereo vision equipped robot to cope with the failure of one of its cameras. The setup learns to estimate average depth using a monocular image, by using the stereo vision depths from the past as trusted ground truth. We present preliminary results from an experiment on the International Space Station (ISS) performed with the MIT/NASA SPHERES VERTIGO satellite. The presented experiments were performed on October 8th, 2015 on board the ISS. The main goals were (1) data gathering, and (2) navigation based on stereo vision. First the astronaut Kimiya Yui moved the satellite around the Japanese Experiment Module to gather stereo vision data for learning. Subsequently, the satellite freely explored the space in the module based on its (trusted) stereo vision system and a pre-programmed exploration behavior, while simultaneously performing the self-supervised learning of monocular depth estimation on board. The two main goals were successfully achieved, representing the first online learning robotic experiments in space. These results lay the groundwork for a follow-up experiment in which the satellite will use the learned single-camera depth estimation for autonomous exploration in the ISS, and are an advancement towards future space robots that continuously improve their navigation capabilities over time, even in harsh and completely unknown space environments.

Autonomous development and learning in artificial intelligence and robotics: Scaling up deep learning to human-like learning.

PubMed

Oudeyer, Pierre-Yves

2017-01-01

Autonomous lifelong development and learning are fundamental capabilities of humans, differentiating them from current deep learning systems. However, other branches of artificial intelligence have designed crucial ingredients towards autonomous learning: curiosity and intrinsic motivation, social learning and natural interaction with peers, and embodiment. These mechanisms guide exploration and autonomous choice of goals, and integrating them with deep learning opens stimulating perspectives.

Use of automation and robotics for the Space Station

NASA Technical Reports Server (NTRS)

Cohen, Aaron

1987-01-01

An overview is presented of the various possible applications of automation and robotics technology to the Space Station system. The benefits of such technology to the private sector and the national economy are addressed. NASA's overall approach to incorporating advanced technology into the Space Station is examined.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students from Hagerty High School in Oviedo, Fla., participants in FIRST Robotics, show off their robots' capabilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A child gets an up-close look at Charli, an autonomous walking robot developed by Virginia Tech Robotics, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Space telerobotic systems: Applications and concepts

NASA Technical Reports Server (NTRS)

Jenkins, L.

1987-01-01

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

da Vinci robot-assisted keyhole neurosurgery: a cadaver study on feasibility and safety.

PubMed

Marcus, Hani J; Hughes-Hallett, Archie; Cundy, Thomas P; Yang, Guang-Zhong; Darzi, Ara; Nandi, Dipankar

2015-04-01

The goal of this cadaver study was to evaluate the feasibility and safety of da Vinci robot-assisted keyhole neurosurgery. Several keyhole craniotomies were fashioned including supraorbital subfrontal, retrosigmoid and supracerebellar infratentorial. In each case, a simple durotomy was performed, and the flap was retracted. The da Vinci surgical system was then used to perform arachnoid dissection towards the deep-seated intracranial cisterns. It was not possible to simultaneously pass the 12-mm endoscope and instruments through the keyhole craniotomy in any of the approaches performed, limiting visualization. The articulated instruments provided greater dexterity than existing tools, but the instrument arms could not be placed in parallel through the keyhole craniotomy and, therefore, could not be advanced to the deep cisterns without significant clashing. The da Vinci console offered considerable ergonomic advantages over the existing operating room arrangement, allowing the operating surgeon to remain non-sterile and seated comfortably throughout the procedure. However, the lack of haptic feedback was a notable limitation. In conclusion, while robotic platforms have the potential to greatly enhance the performance of transcranial approaches, there is strong justification for research into next-generation robots, better suited to keyhole neurosurgery.

Humanoids Designed to do Work

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Askew, Scott; Bluethmann, William; Diftler, Myron

2001-01-01

NASA began with the challenge of building a robot fo r doing assembly, maintenance, and diagnostic work in the Og environment of space. A robot with human form was then chosen as the best means of achieving that mission. The goal was not to build a machine to look like a human, but rather, to build a system that could do the same work. Robonaut could be inserted into the existing space environment, designed for a population of astronauts, and be able to perform many of the same tasks, with the same tools, and use the same interfaces. Rather than change that world to accommodate the robot, instead Robonaut accepts that it exists for humans, and must conform to it. While it would be easier to build a robot if all the interfaces could be changed, this is not the reality of space at present, where NASA has invested billions of dollars building spacecraft like the Space Shuttle and International Space Station. It is not possible to go back in time, and redesign those systems to accommodate full automation, but a robot can be built that adapts to them. This paper describes that design process, and the res ultant solution, that NASA has named Robonaut.

Ground operation of robotics on Space Station Freedom

NASA Technical Reports Server (NTRS)

Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

1993-01-01

This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

Ground operation of robotics on Space Station Freedom

NASA Astrophysics Data System (ADS)

Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

1993-03-01

This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake-like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

1994-01-01

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.

Continuous Shape Estimation of Continuum Robots Using X-ray Images.

PubMed

Lobaton, Edgar J; Fu, Jinghua; Torres, Luis G; Alterovitz, Ron

2013-05-06

We present a new method for continuously and accurately estimating the shape of a continuum robot during a medical procedure using a small number of X-ray projection images (e.g., radiographs or fluoroscopy images). Continuum robots have curvilinear structure, enabling them to maneuver through constrained spaces by bending around obstacles. Accurately estimating the robot's shape continuously over time is crucial for the success of procedures that require avoidance of anatomical obstacles and sensitive tissues. Online shape estimation of a continuum robot is complicated by uncertainty in its kinematic model, movement of the robot during the procedure, noise in X-ray images, and the clinical need to minimize the number of X-ray images acquired. Our new method integrates kinematics models of the robot with data extracted from an optimally selected set of X-ray projection images. Our method represents the shape of the continuum robot over time as a deformable surface which can be described as a linear combination of time and space basis functions. We take advantage of probabilistic priors and numeric optimization to select optimal camera configurations, thus minimizing the expected shape estimation error. We evaluate our method using simulated concentric tube robot procedures and demonstrate that obtaining between 3 and 10 images from viewpoints selected by our method enables online shape estimation with errors significantly lower than using the kinematic model alone or using randomly spaced viewpoints.

Zero Robotics at Kennedy Space Center Visitor Complex

NASA Image and Video Library

2017-08-11

A trio of programmable off-the-shelf Sphero robots are shown at the Center for Space Education at NASA's Kennedy Space Center in Florida. The Spheros were available for students to practice their programming skills during "loss of signal" times when the connection to the International Space Station was temporarily unavailable. Teams from across the state of Florida were gathered at Kennedy for the finals of the Zero Robotics Middle School Summer Program national championship. The five-week program allows rising sixth- through ninth-graders to write programs for small satellites called SPHERES (Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites). Finalists saw their code tested aboard the orbiting laboratory.

An overview of the program to place advanced automation and robotics on the Space Station

NASA Technical Reports Server (NTRS)

Heydorn, Richard P.

1987-01-01

The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Space Technology Game Changing Development Astrobee: ISS Robotic Free Flyer

NASA Technical Reports Server (NTRS)

Bualat, Maria Gabriele

2015-01-01

Astrobee will be a free-flying robot that can be remotely operated by astronauts in space or by mission controllers on the ground. NASA is developing Astrobee to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station. These IVA tasks include interior environmental surveys (e.g., sound level measurement), inventory and mobile camera work. Astrobee will also serve as a platform for robotics research in microgravity. Here we describe the Astrobee project objectives, concept of operations, development approach, key challenges, and initial design.

Robotic space simulation integration of vision algorithms into an orbital operations simulation

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.

1987-01-01

In order to successfully plan and analyze future space activities, computer-based simulations of activities in low earth orbit will be required to model and integrate vision and robotic operations with vehicle dynamics and proximity operations procedures. The orbital operations simulation (OOS) is configured and enhanced as a testbed for robotic space operations. Vision integration algorithms are being developed in three areas: preprocessing, recognition, and attitude/attitude rates. The vision program (Rice University) was modified for use in the OOS. Systems integration testing is now in progress.

A&R challenges for in-space operations. [Automation and Robotic technologies

NASA Technical Reports Server (NTRS)

Underwood, James

1990-01-01

Automation and robotics (A&R) challenges for in-space operations are examined, with emphasis on the interaction between developing requirements, developing solutions, design concepts, and the nature of the applicability of automation in robotic technologies. Attention is first given to the use of A&R in establishing outposts on the moon and Mars. Then emphasis is placed on the requirements for the assembly of transportation systems in low earth orbit. Concepts of the Space Station which show how the assembly, processing, and checkout of systems in LEO might be accommodated are examined.

Synergistic Activities of Near-Earth Object Exploration

NASA Technical Reports Server (NTRS)

Abell, Paul

2011-01-01

U.S. President Obama stated on April 15, 2010 that the next goal for human spaceflight will be to send human beings to near-Earth asteroids by 2025. Missions to NEOs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. Information obtained from a human investigation of a NEO, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEO missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEOs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. In addition, robotic precursor and human exploration missions to NEOs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Blending Velocities In Task Space In Computing Robot Motions

NASA Technical Reports Server (NTRS)

Volpe, Richard A.

1995-01-01

Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.

Economic effects and spin-offs in a small space economy: the case of Canada.

PubMed

Amesse, Fernand; Cohendet, Patrick; Poirier, Alain; Chouinard, Jean-Marc

2002-12-01

Canada, through a well-focused space program (telecommunications, earth observation, robotics), has succeeded in developing a space industry largely based on SMEs. The result has been significant economic benefits and technological spin-offs. In this article, the results of two programs, the ESA (European Space Agency) and the STEAR (Strategic Technologies in Automation and Robotics), are compared. The ESA program has generated significant indirect effects and spin-offs for Canadian exports. ESA's reputation and network have enabled SMEs to increase export sales of both space products and other commercial products derived from space technologies. The STEAR program has been highly successful in promoting a new generation of SMEs for space robotics, encouraging both spin-in and spin-offs of technologies. The analysis highlights the complementarity of mission- and diffusion-oriented programs in the technology transfer process.

Advancing automation and robotics technology for the space station and the US economy

NASA Technical Reports Server (NTRS)

Cohen, A.

1985-01-01

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and rebotics for use in the space station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the space station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the space station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1992-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifteenth in a series of progress updates and covers the period between 27 Feb. - 17 Sep. 1992. The progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology is described. Emphasis was placed upon the Space Station Freedom program responses to specific recommendations made in ATAC Progress Report 14. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy. Submitted to the Congress of the U.S. May 1991

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1991-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. The report describes the progress made by Levels 1, 2 and 3 of the Office Space Station in developing and applying advanced automation and robotics technology. Emphasis has been placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 11, the status of the Flight Telerobotic Servicer, and the status of the Advanced Development Program. In addition, an assessment is provided of the automation and robotics status of the Canadian Space Station Program.

KSC-2014-3542

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Former astronaut Greg Johnson, at left, executive director of the Center for the Advancement of Science in Space, and NASA Kennedy Space Center Director Bob Cabana, visit with Florida middle school students and their teachers before the start of the Zero Robotics finals competition at NASA Kennedy Space Center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

Key technology issues for space robotic systems

NASA Technical Reports Server (NTRS)

Schappell, Roger T.

1987-01-01

Robotics has become a key technology consideration for the Space Station project to enable enhanced crew productivity and to maximize safety. There are many robotic functions currently being studied, including Space Station assembly, repair, and maintenance as well as satellite refurbishment, repair, and retrieval. Another area of concern is that of providing ground based experimenters with a natural interface that they might directly interact with their hardware onboard the Space Station or ancillary spacecraft. The state of the technology is such that the above functions are feasible; however, considerable development work is required for operation in this gravity-free vacuum environment. Furthermore, a program plan is evolving within NASA that will capitalize on recent government, university, and industrial robotics research and development (R and D) accomplishments. A brief summary is presented of the primary technology issues and physical examples are provided of the state of the technology for the initial operational capability (IOC) system as well as for the eventual final operational capability (FOC) Space Station.

Expedition Two Voss at SSRMS controls with Hadfield and Helms in Destiny module

NASA Image and Video Library

2001-04-22

ISS002-303-036 (28 April 2001) --- Some of the principal participants of an historical event are pictured in the Destiny laboratory aboard the International Space Station (ISS). In the foreground is astronaut James S. Voss, with astronaut Chris A. Hadfield, STS-100 mission specialist, at center, and astronaut Susan J. Helms in the background. Voss and Helms are Expedition Two flight engineers. A Canadian "handshake in space" occurred at 4:02 p.m (CDT), April 28, 2001, as the Canadian-built space station robotic arm -- operated by Helms -- transferred its launch cradle over to Endeavour's robotic arm, with Canadian Space Agency astronaut Hadfield at the controls. In this scene, Hadfield had temporarily vacated his post on Endeavour's aft flight deck and was having a brief strategy meeting with the Expedition Two crew on the docked station. The exchange of the pallet from station arm to shuttle arm marked the first ever robotic-to-robotic transfer in space.

Mobile robots exploration through cnn-based reinforcement learning.

PubMed

Tai, Lei; Liu, Ming

2016-01-01

Exploration in an unknown environment is an elemental application for mobile robots. In this paper, we outlined a reinforcement learning method aiming for solving the exploration problem in a corridor environment. The learning model took the depth image from an RGB-D sensor as the only input. The feature representation of the depth image was extracted through a pre-trained convolutional-neural-networks model. Based on the recent success of deep Q-network on artificial intelligence, the robot controller achieved the exploration and obstacle avoidance abilities in several different simulated environments. It is the first time that the reinforcement learning is used to build an exploration strategy for mobile robots through raw sensor information.

ROBOTS TO ROCKET CITY

NASA Image and Video Library

2016-03-06

HIGH SCHOOL STUDENTS FROM NORTH ALABAMA GATHER AT THE U.S. SPACE AND ROCKET CENTER'S DAVIDSON CENTER FOR THE "ROBOTS TO ROCKET CITY" EVENT SHOWCASING THEIR INDIVIDUAL ROBOTS PRIOR TO LATER COMPETITIONS.

An orbital emulator for pursuit-evasion game theoretic sensor management

NASA Astrophysics Data System (ADS)

Shen, Dan; Wang, Tao; Wang, Gang; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2017-05-01

This paper develops and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motion methods. The 3D motion of a satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motor-controlled-ball along a rod (robotic arm), which is attached to the robot. For multiple satellites, a fast map-merging algorithm is integrated into the robot operating system (ROS) and simultaneous localization and mapping (SLAM) routines to locate the multiple robots in the scene. The OE is used to demonstrate a pursuit-evasion (PE) game theoretic sensor management algorithm, which models conflicts between a space-based-visible (SBV) satellite (as pursuer) and a geosynchronous (GEO) satellite (as evader). The cost function of the PE game is based on the informational entropy of the SBV-tracking-GEO scenario. GEO can maneuver using a continuous and low thruster. The hard-in-loop space emulator visually illustrates the SSA problem solution based PE game.

Detection of Subtle Context-Dependent Model Inaccuracies in High-Dimensional Robot Domains.

PubMed

Mendoza, Juan Pablo; Simmons, Reid; Veloso, Manuela

2016-12-01

Autonomous robots often rely on models of their sensing and actions for intelligent decision making. However, when operating in unconstrained environments, the complexity of the world makes it infeasible to create models that are accurate in every situation. This article addresses the problem of using potentially large and high-dimensional sets of robot execution data to detect situations in which a robot model is inaccurate-that is, detecting context-dependent model inaccuracies in a high-dimensional context space. To find inaccuracies tractably, the robot conducts an informed search through low-dimensional projections of execution data to find parametric Regions of Inaccurate Modeling (RIMs). Empirical evidence from two robot domains shows that this approach significantly enhances the detection power of existing RIM-detection algorithms in high-dimensional spaces.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students gather to watch as a DARwin-OP miniature humanoid robot from Virginia Tech Robotics demonstrates its soccer abilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Deep space communication - A one billion mile noisy channel

NASA Technical Reports Server (NTRS)

Smith, J. G.

1982-01-01

Deep space exploration is concerned with the study of natural phenomena in the solar system with the aid of measurements made at spacecraft on deep space missions. Deep space communication refers to communication between earth and spacecraft in deep space. The Deep Space Network is an earth-based facility employed for deep space communication. It includes a network of large tracking antennas located at various positions around the earth. The goals and achievements of deep space exploration over the past 20 years are discussed along with the broad functional requirements of deep space missions. Attention is given to the differences in space loss between communication satellites and deep space vehicles, effects of the long round-trip light time on spacecraft autonomy, requirements for the use of massive nuclear power plants on spacecraft at large distances from the sun, and the kinds of scientific return provided by a deep space mission. Problems concerning a deep space link of one billion miles are also explored.

Status of Solar Sail Propulsion Within NASA - Moving Toward Interstellar Travel

NASA Technical Reports Server (NTRS)

Johnson, Les

2015-01-01

NASA is developing solar sail propulsion for two near-term missions and laying the groundwork for their future use in deep space and interstellar precursor missions. Solar sails use sunlight to propel vehicles through space by reflecting solar photons from a large, mirror-like sail made of a lightweight, highly reflective material. This continuous photon pressure provides propellantless thrust, allowing for very high (Delta)V maneuvers on long-duration, deep space exploration. Since reflected light produces thrust, solar sails require no onboard propellant. The Near Earth Asteroid (NEA) Scout mission, managed by MSFC, will use the sail as primary propulsion allowing it to survey and image one or more NEA's of interest for possible future human exploration. Lunar Flashlight, managed by JPL, will search for and map volatiles in permanently shadowed Lunar craters using a solar sail as a gigantic mirror to steer sunlight into the shaded craters. The Lunar Flashlight spacecraft will also use the propulsive solar sail to maneuver into a lunar polar orbit. Both missions use a 6U cubesat architecture, a common an 85 sq m solar sail, and will weigh less than 12 kilograms. Both missions will be launched on the first flight of the Space Launch System in 2018. NEA Scout and Lunar Flashlight will serve as important milestones in the development of solar sail propulsion technology for future, more ambitious missions including the Interstellar Probe - a mission long desired by the space science community which would send a robotic probe beyond the edge of the solar system to a distance of 250 Astronomical Units or more. This paper will summarize the development status of NEA Scout and Lunar Flashlight and describe the next steps required to enable an interstellar solar sail capability.

Space robot simulator vehicle

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Transoral robotic resection of selected parapharyngeal space tumors.

PubMed

Arshad, Hassan; Durmus, Kasim; Ozer, Enver

2013-05-01

Currently, transoral robotic surgery (TORS) with the daVinci robot is mainly used for squamous cell carcinoma of the oropharynx and supraglottic larynx. The safety, efficacy, and functional outcomes regarding this approach have previously been described. In addition to transoral resection of squamous cell carcinoma, we have found use for this technique in removing selected tumors of the parapharyngeal space. Three patients with benign or malignant tumors of the parapharyngeal space who underwent successful transoral resection using the daVinci robot were included in the study. In all three cases, complete tumor excision was achieved without any complication. None required conversion to an open procedure. Mean TORS operative time and intraoperative blood loss were 16.3 min and 4.7 mL, respectively. Inadequate oral exposure, involvement of the internal carotid artery, limited cervical spine mobility and large tumor size are the main limitations of this approach. Result indicates that magnified view, 3D visualization with the combination of the transoral robotic experience, allow en bloc resection of selected parapharyngeal space tumors located medial to the carotid sheath.

Peripersonal Space and Margin of Safety around the Body: Learning Visuo-Tactile Associations in a Humanoid Robot with Artificial Skin.

PubMed

Roncone, Alessandro; Hoffmann, Matej; Pattacini, Ugo; Fadiga, Luciano; Metta, Giorgio

2016-01-01

This paper investigates a biologically motivated model of peripersonal space through its implementation on a humanoid robot. Guided by the present understanding of the neurophysiology of the fronto-parietal system, we developed a computational model inspired by the receptive fields of polymodal neurons identified, for example, in brain areas F4 and VIP. The experiments on the iCub humanoid robot show that the peripersonal space representation i) can be learned efficiently and in real-time via a simple interaction with the robot, ii) can lead to the generation of behaviors like avoidance and reaching, and iii) can contribute to the understanding the biological principle of motor equivalence. More specifically, with respect to i) the present model contributes to hypothesizing a learning mechanisms for peripersonal space. In relation to point ii) we show how a relatively simple controller can exploit the learned receptive fields to generate either avoidance or reaching of an incoming stimulus and for iii) we show how the robot can select arbitrary body parts as the controlled end-point of an avoidance or reaching movement.

KSC-2014-3534

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Former astronaut Greg Johnson, executive director of the Center for the Advancement of Science in Space, talks to Florida middle school students and their teachers before the start of the Zero Robotics finals competition at NASA Kennedy Space Center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

KSC-2014-3539

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Former astronaut Greg Johnson, executive director of the Center for the Advancement of Science in Space, talks to Florida middle school students and their teachers before the start of the Zero Robotics finals competition at NASA Kennedy Space Center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

KSC-2014-3538

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Former astronaut Greg Johnson, executive director of the Center for the Advancement of Science in Space, talks to Florida middle school students and their teachers before the start of the Zero Robotics finals competition at NASA Kennedy Space Center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

KSC-2014-3541

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Florida middle school students and their teachers watch the Zero Robotics finals competition broadcast live via webex from the International Space Station. The Florida teams are at the Space Station Processing Facility at NASA's Kennedy Space Center in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

Advancing automation and robotics technology for the space station and for the US economy

NASA Technical Reports Server (NTRS)

Nunamaker, Robert

1988-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memo 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixth in a series of progress updates and covers the period between October 1, 1987 and March 1, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

Advancing automation and robotics technology for the space station and for the US economy

NASA Technical Reports Server (NTRS)

1986-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the second in a series of progress updates and covers the period between October 4, 1985, and March 31, l986. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Program and serve as a highly visible stimulator effecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

KSC-99pp0400

NASA Image and Video Library

1999-04-08

KENNEDY SPACE CENTER, FLA. -- A host robot, Starquester 2000, helps describe for visitors the accomplishments of unsung space heroes space probes and their role in space exploration. The walk-through Robot Scouts exhibit is part of the $13 million expansion to KSC's Visitor Complex. Other additions include a walk-through Robot Scouts exhibit, a wildlife exhibit, and the film Quest for Life in a new 300-seat theater, plus an International Space Station-themed ticket plaza, featuring a structure of overhanging solar panels and astronauts performing assembly tasks. Inaugurated three decades ago, the Visitor Complex is now one of the top five tourist attractions in Florida. It is located on S.R. 407, east of I-95, within the Merritt Island National Wildlife Refuge

Conference on Space and Military Applications of Automation and Robotics

NASA Technical Reports Server (NTRS)

1988-01-01

Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.

PaR-PaR Laboratory Automation Platform

DOE Office of Scientific and Technical Information (OSTI.GOV)

Linshiz, G; Stawski, N; Poust, S

2013-05-01

Labor-intensive multistep biological tasks, such as the construction and cloning of DNA molecules, are prime candidates for laboratory automation. Flexible and biology-friendly operation of robotic equipment is key to its successful integration in biological laboratories, and the efforts required to operate a robot must be much smaller than the alternative manual lab work. To achieve these goals, a simple high-level biology-friendly robot programming language is needed. We have developed and experimentally validated such a language: Programming a Robot (PaR-PaR). The syntax and compiler for the language are based on computer science principles and a deep understanding of biological workflows. PaR-PaRmore » allows researchers to use liquid-handling robots effectively, enabling experiments that would not have been considered previously. After minimal training, a biologist can independently write complicated protocols for a robot within an hour. Adoption of PaR-PaR as a standard cross-platform language would enable hand-written or software-generated robotic protocols to be shared across laboratories.« less

PaR-PaR laboratory automation platform.

PubMed

Linshiz, Gregory; Stawski, Nina; Poust, Sean; Bi, Changhao; Keasling, Jay D; Hillson, Nathan J

2013-05-17

Labor-intensive multistep biological tasks, such as the construction and cloning of DNA molecules, are prime candidates for laboratory automation. Flexible and biology-friendly operation of robotic equipment is key to its successful integration in biological laboratories, and the efforts required to operate a robot must be much smaller than the alternative manual lab work. To achieve these goals, a simple high-level biology-friendly robot programming language is needed. We have developed and experimentally validated such a language: Programming a Robot (PaR-PaR). The syntax and compiler for the language are based on computer science principles and a deep understanding of biological workflows. PaR-PaR allows researchers to use liquid-handling robots effectively, enabling experiments that would not have been considered previously. After minimal training, a biologist can independently write complicated protocols for a robot within an hour. Adoption of PaR-PaR as a standard cross-platform language would enable hand-written or software-generated robotic protocols to be shared across laboratories.

Roadmap for In-Space Propulsion Technology

NASA Technical Reports Server (NTRS)

Meyer, Michael; Johnson, Les; Palaszewski, Bryan; Coote, David; Goebel, Dan; White, Harold

2012-01-01

NASA has created a roadmap for the development of advanced in-space propulsion technologies for the NASA Office of the Chief Technologist (OCT). This roadmap was drafted by a team of subject matter experts from within the Agency and then independently evaluated, integrated and prioritized by a National Research Council (NRC) panel. The roadmap describes a portfolio of in-space propulsion technologies that could meet future space science and exploration needs, and shows their traceability to potential future missions. Mission applications range from small satellites and robotic deep space exploration to space stations and human missions to Mars. Development of technologies within the area of in-space propulsion will result in technical solutions with improvements in thrust, specific impulse (Isp), power, specific mass (or specific power), volume, system mass, system complexity, operational complexity, commonality with other spacecraft systems, manufacturability, durability, and of course, cost. These types of improvements will yield decreased transit times, increased payload mass, safer spacecraft, and decreased costs. In some instances, development of technologies within this area will result in mission-enabling breakthroughs that will revolutionize space exploration. There is no single propulsion technology that will benefit all missions or mission types. The requirements for in-space propulsion vary widely according to their intended application. This paper provides an updated summary of the In-Space Propulsion Systems technology area roadmap incorporating the recommendations of the NRC.

The ISECG* Global Exploration Roadmap as Context for Robotic and Human Exploration Operations

NASA Technical Reports Server (NTRS)

Lupisella, Mark

2015-01-01

The International Space Exploration Coordination Group (ISECG) Global Exploration Roadmap (GER) provides a broad international context for understanding how robotic missions and robotic assets can enable future human exploration of multiple destinations. This presentation will provide a brief high-level review of the GER with a focus on key robotic missions and robotic assets that can provide enabling technology advancements and that also raise interesting operational challenges in both the near-term and long-term. The GER presently features a variety of robotic missions and robotic assets that can provide important technology advancements as well as operational challenges and improvements, in areas ranging from: (a) leveraging the International Space Station, (b) planetary science robotic missions to potential human destinations, (c) micro-g body proximity operations (e.g. asteroids), (d) autonomous operations, (e) high and low-latency telerobotics, (f) human assisted sample return, and (g) contamination control. This presentation will highlight operational and technology challenges in these areas that have feed forward implications for human exploration.

JPRS Report Science & Technology Japan Space Artificial Intelligence/Robotics/Automation Symposium.

DTIC Science & Technology

1989-12-28

Kazuya Kaku, et al. ] 28 Spacecraft Automatic Monitoring System [Kazuya Kaku, et al. ] 36 Autonomous Space Robot, Related Computer ...type space vehicle Space station , orbital sup - lport systems Transport systems Ground Systems 1 et»*:«..,..... ri,(rn™ Communciations ...axis torque sensor. Motorola’s VME-10 is used as the computer . 5. Experimental Results To investigate the state of separation between the external

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 2: Space projects overview

NASA Technical Reports Server (NTRS)

Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

1982-01-01

Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and their related ground support functions are studied so that informed decisions can be made on which aspects of ARAMIS to develop. The space project breakdowns, which are used to identify tasks ('functional elements'), are described. The study method concentrates on the production of a matrix relating space project tasks to pieces of ARAMIS.

Self-Sustaining Robotic Ecologies and Space Architecture

NASA Technical Reports Server (NTRS)

Colombano, Silvano P.

2004-01-01

Contents include the folowing: rom "one shot" explorations to infrastructure building. Challenges to infrastructure building. Modularity and self-sustaining robotic ecologies. A pathway to human presence. Robotic " archntecture". The "robosphere" concept.

Robust Kalman filtering cooperated Elman neural network learning for vision-sensing-based robotic manipulation with global stability.

PubMed

Zhong, Xungao; Zhong, Xunyu; Peng, Xiafu

2013-10-08

In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained) using a new input-output data pair vector (obtained from the KF cycle) to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme's performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.

The servicing aid tool: A teleoperated robotics system for space applications

NASA Technical Reports Server (NTRS)

Dorman, Keith W.; Pullen, John L.; Keksz, William O.; Eismann, Paul H.; Kowalski, Keith A.; Karlen, James P.

1994-01-01

The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.

Robot Tracking of Human Subjects in Field Environments

NASA Technical Reports Server (NTRS)

Graham, Jeffrey; Shillcutt, Kimberly

2003-01-01

Future planetary exploration will involve both humans and robots. Understanding and improving their interaction is a main focus of research in the Intelligent Systems Branch at NASA's Johnson Space Center. By teaming intelligent robots with astronauts on surface extra-vehicular activities (EVAs), safety and productivity can be improved. The EVA Robotic Assistant (ERA) project was established to study the issues of human-robot teams, to develop a testbed robot to assist space-suited humans in exploration tasks, and to experimentally determine the effectiveness of an EVA assistant robot. A companion paper discusses the ERA project in general, its history starting with ASRO (Astronaut-Rover project), and the results of recent field tests in Arizona. This paper focuses on one aspect of the research, robot tracking, in greater detail: the software architecture and algorithms. The ERA robot is capable of moving towards and/or continuously following mobile or stationary targets or sequences of targets. The contributions made by this research include how the low-level pose data is assembled, normalized and communicated, how the tracking algorithm was generalized and implemented, and qualitative performance reports from recent field tests.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A miniature humanoid robot known as DARwin-OP, from Virginia Tech Robotics, plays soccer with a red tennis ball for a crowd of students at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robotics research at Canadian Space Agency

NASA Technical Reports Server (NTRS)

Hui, Raymond

1994-01-01

In addition to major crown projects such as the Mobile Servicing System for Space Station, the Canadian Space Agency is also engaged in internal, industrial and academic research and development activities in robotics and other space-related areas of science and technology. These activities support current and future space projects, and lead to technology development which can be spun off to terrestrial applications, thus satisfying the Agency's objective of providing economic benefits to the public at large through its space-related work.

KSC-03pd1380

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - John Reed, co-principal investigator, Harbor Branch Oceanographic Institution, checks out equipment on the Liberty Star, which will be the site of an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. He and other scientists will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1376

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Dr. Grant Gilmore sits alongside some of the equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Gilmore is co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1378

NASA Image and Video Library

2003-04-29

KENNEDY SPACE CENTER, FLA. - Pictured is a piece of equipment that will be used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. Scientists on the team will be deploying an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS). Dr. Grant Gilmore was co-principle investigator of the PAMS, originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries and will take place onboard the Liberty Star. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-02pd1535

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Sonar mapping equipment lies on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.

Virtual reality and telerobotics applications of an Address Recalculation Pipeline

NASA Technical Reports Server (NTRS)

Regan, Matthew; Pose, Ronald

1994-01-01

The technology described in this paper was designed to reduce latency to user interactions in immersive virtual reality environments. It is also ideally suited to telerobotic applications such as interaction with remote robotic manipulators in space or in deep sea operations. in such circumstances the significant latency is observed response to user stimulus which is due to communications delays, and the disturbing jerkiness due to low and unpredictable frame rates on compressed video user feedback or computationally limited virtual worlds, can be masked by our techniques. The user is provided with highly responsive visual feedback independent of communication or computational delays in providing physical video feedback or in rendering virtual world images. Virtual and physical environments can be combined seamlessly using these techniques.

Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

NASA Technical Reports Server (NTRS)

Myers, Dale

1987-01-01

An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

CSI related dynamics and control issues in space robotics

NASA Technical Reports Server (NTRS)

Schmitz, Eric; Ramey, Madison

1993-01-01

The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.

An assembly system based on industrial robot with binocular stereo vision

NASA Astrophysics Data System (ADS)

Tang, Hong; Xiao, Nanfeng

2017-01-01

This paper proposes an electronic part and component assembly system based on an industrial robot with binocular stereo vision. Firstly, binocular stereo vision with a visual attention mechanism model is used to get quickly the image regions which contain the electronic parts and components. Secondly, a deep neural network is adopted to recognize the features of the electronic parts and components. Thirdly, in order to control the end-effector of the industrial robot to grasp the electronic parts and components, a genetic algorithm (GA) is proposed to compute the transition matrix and the inverse kinematics of the industrial robot (end-effector), which plays a key role in bridging the binocular stereo vision and the industrial robot. Finally, the proposed assembly system is tested in LED component assembly experiments, and the results denote that it has high efficiency and good applicability.

Robotic lunar exploration: Architectures, issues and options

NASA Astrophysics Data System (ADS)

Mankins, John C.; Valerani, Ernesto; Della Torre, Alberto

2007-06-01

The US ‘vision for space exploration’ articulated at the beginning of 2004 encompasses a broad range of human and robotic space missions, including missions to the Moon, Mars and destinations beyond. It establishes clear goals and objectives, yet sets equally clear budgetary ‘boundaries’ by stating firm priorities, including ‘tough choices’ regarding current major NASA programs. The new vision establishes as policy the goals of pursuing commercial and international collaboration in realizing future space exploration missions. Also, the policy envisions that advances in human and robotic mission technologies will play a key role—both as enabling and as a major public benefit that will result from implementing that vision. In pursuing future international space exploration goals, the exploration of the Moon during the coming decades represents a particularly appealing objective. The Moon provides a unique venue for exploration and discovery—including the science of the Moon (e.g., geological studies), science from the Moon (e.g., astronomical observatories), and science on the Moon (including both basic research, such as biological laboratory science, and applied research and development, such as the use of the Moon as a test bed for later exploration). The Moon may also offer long-term opportunties for utilization—including Earth observing applications and commercial developments. During the coming decade, robotic lunar exploration missions will play a particularly important role, both in their own right and as precursors to later, more ambitious human and robotic exploration and development efforts. The following paper discusses some of the issues and opportunities that may arise in establishing plans for future robotic lunar exploration. Particular emphasis is placed on four specific elements of future robotic infrastructure: Earth Moon in-space transportation systems; lunar orbiters; lunar descent and landing systems; and systems for long-range transport on the Moon.

From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops

NASA Astrophysics Data System (ADS)

Polishuk, Alexander; Verner, Igor; Mir, Ronen

This paper presents our experience of teaching robotics to primary and middle school students at the Gelfand Center for Model Building, Robotics & Communication which is part of the Israel National Museum of Science, Technology and Space (MadaTech). The educational study examines the value and characteristics of students’ teamwork in the museum robotics workshops.

Human-Robot Interaction: Status and Challenges.

PubMed

Sheridan, Thomas B

2016-06-01

The current status of human-robot interaction (HRI) is reviewed, and key current research challenges for the human factors community are described. Robots have evolved from continuous human-controlled master-slave servomechanisms for handling nuclear waste to a broad range of robots incorporating artificial intelligence for many applications and under human supervisory control. This mini-review describes HRI developments in four application areas and what are the challenges for human factors research. In addition to a plethora of research papers, evidence of success is manifest in live demonstrations of robot capability under various forms of human control. HRI is a rapidly evolving field. Specialized robots under human teleoperation have proven successful in hazardous environments and medical application, as have specialized telerobots under human supervisory control for space and repetitive industrial tasks. Research in areas of self-driving cars, intimate collaboration with humans in manipulation tasks, human control of humanoid robots for hazardous environments, and social interaction with robots is at initial stages. The efficacy of humanoid general-purpose robots has yet to be proven. HRI is now applied in almost all robot tasks, including manufacturing, space, aviation, undersea, surgery, rehabilitation, agriculture, education, package fetch and delivery, policing, and military operations. © 2016, Human Factors and Ergonomics Society.

A Review of Robotics Technologies for On-Orbit Services

DTIC Science & Technology

2013-01-01

The SpaceX vehicle has successfully accomplished its first docking with the ISS in May 2012, delivered about 1,200 lbs of water, food , and other...algorithms, which can generate collision-free robot motion paths. Recently, Franch et al [101] have employed flatness theory to plan trajectories...3713–3719 (2005). [101] Franch J, Agrawal S, Fattah A, "Design of Differentially Flat Planar Space Robots: a Step Forward in Their Planning and

Computer graphics testbed to simulate and test vision systems for space applications

NASA Technical Reports Server (NTRS)

Cheatham, John B.

1991-01-01

Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

78 FR 49296 - Centennial Challenges 2014 Sample Return Robot Challenge

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-13

... Return Robot Challenge AGENCY: National Aeronautics and Space Administration (NASA). ACTION: Notice of Centennial Challenges 2014 Sample Return Robot Challenge. SUMMARY: This notice is issued in accordance with 51 U.S.C. 20144(c). The 2014 Sample Return Robot Challenge is scheduled and teams that wish to...

76 FR 56819 - Centennial Challenges 2012 Sample Return Robot Challenge

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-14

... Return Robot Challenge AGENCY: National Aeronautics and Space Administration (NASA). ACTION: Notice. SUMMARY: This notice is issued in accordance with 42 U.S.C. 2451(314)(d). The 2012 Sample Return Robot.... The 2012 Sample Return Robot Challenge is a prize competition designed to encourage development of new...

77 FR 70835 - Centennial Challenges 2013 Sample Return Robot Challenge

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-27

... NATIONAL AERONAUTICS AND SPACE ADMINISTRATION Centennial Challenges 2013 Sample Return Robot...). SUMMARY: This notice is issued in accordance with 51 U.S.C. 20144(c). The 2013 Sample Return Robot.... The 2013 Sample Return Robot Challenge is a prize competition designed to encourage development of new...

Continuous Shape Estimation of Continuum Robots Using X-ray Images

PubMed Central

Lobaton, Edgar J.; Fu, Jinghua; Torres, Luis G.; Alterovitz, Ron

2015-01-01

We present a new method for continuously and accurately estimating the shape of a continuum robot during a medical procedure using a small number of X-ray projection images (e.g., radiographs or fluoroscopy images). Continuum robots have curvilinear structure, enabling them to maneuver through constrained spaces by bending around obstacles. Accurately estimating the robot’s shape continuously over time is crucial for the success of procedures that require avoidance of anatomical obstacles and sensitive tissues. Online shape estimation of a continuum robot is complicated by uncertainty in its kinematic model, movement of the robot during the procedure, noise in X-ray images, and the clinical need to minimize the number of X-ray images acquired. Our new method integrates kinematics models of the robot with data extracted from an optimally selected set of X-ray projection images. Our method represents the shape of the continuum robot over time as a deformable surface which can be described as a linear combination of time and space basis functions. We take advantage of probabilistic priors and numeric optimization to select optimal camera configurations, thus minimizing the expected shape estimation error. We evaluate our method using simulated concentric tube robot procedures and demonstrate that obtaining between 3 and 10 images from viewpoints selected by our method enables online shape estimation with errors significantly lower than using the kinematic model alone or using randomly spaced viewpoints. PMID:26279960

Computerized Cuff Pressure Algometry as Guidance for Circumferential Tissue Compression for Wearable Soft Robotic Applications: A Systematic Review.

PubMed

Kermavnar, Tjaša; Power, Valerie; de Eyto, Adam; O'Sullivan, Leonard W

2018-02-01

In this article, we review the literature on quantitative sensory testing of deep somatic pain by means of computerized cuff pressure algometry (CPA) in search of pressure-related safety guidelines for wearable soft exoskeleton and robotics design. Most pressure-related safety thresholds to date are based on interface pressures and skin perfusion, although clinical research suggests the deep somatic tissues to be the most sensitive to excessive loading. With CPA, pain is induced in deeper layers of soft tissue at the limbs. The results indicate that circumferential compression leads to discomfort at ∼16-34 kPa, becomes painful at ∼20-27 kPa, and can become unbearable even below 40 kPa.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Robotics for Human Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Deans, Mathew; Bualat, Maria

2013-01-01

Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

Calibration of the motor-assisted robotic stereotaxy system: MARS.

PubMed

Heinig, Maximilian; Hofmann, Ulrich G; Schlaefer, Alexander

2012-11-01

The motor-assisted robotic stereotaxy system presents a compact and light-weight robotic system for stereotactic neurosurgery. Our system is designed to position probes in the human brain for various applications, for example, deep brain stimulation. It features five fully automated axes. High positioning accuracy is of utmost importance in robotic neurosurgery. First, the key parameters of the robot's kinematics are determined using an optical tracking system. Next, the positioning errors at the center of the arc--which is equivalent to the target position in stereotactic interventions--are investigated using a set of perpendicular cameras. A modeless robot calibration method is introduced and evaluated. To conclude, the application accuracy of the robot is studied in a phantom trial. We identified the bending of the arc under load as the robot's main error source. A calibration algorithm was implemented to compensate for the deflection of the robot's arc. The mean error after the calibration was 0.26 mm, the 68.27th percentile was 0.32 mm, and the 95.45th was 0.50 mm. The kinematic properties of the robot were measured, and based on the results an appropriate calibration method was derived. With mean errors smaller than currently used mechanical systems, our results show that the robot's accuracy is appropriate for stereotactic interventions.

An Interactive Astronaut-Robot System with Gesture Control

PubMed Central

Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

2016-01-01

Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system. PMID:27190503