Look to the Stars - The APUS Observatory: An Innovative Robotic Telescope for Online Astronomical Education and Research

NASA Astrophysics Data System (ADS)

Albin, Edward

2018-01-01

We report on the American Public University System’s new robotic telescope, located in Charles Town, WV -- an innovative observatory deployed in an online institution of higher education. The instrument is operated by the Department of Space Studies and is situated atop the university’s new Information Technology building. At the heart of the observatory is a Planewave CDK24 telescope, equipped with a SBIG STX-16803 CCD camera. The telescope is a key technological component in the Department's new undergraduate / graduate astronomy concentration. Since the university is a dedicated online educational institution, the acquisition of a fully remote controlled telescope ties closely into the program's philosophy of quality online instruction. Our robotic observatory is intimately integrated into our astronomy curriculum, with the telescope being utilized for original astronomical education and research purposes. For instance, not only is imagery used in the classroom and for laboratory instruction, graduate students in our MS degree program have an opportunity to collect original telescopic data for research / thesis projects. Examples of ongoing investigations with the telescope include observations of exoplanet transits and variable star photometry. When not in use for specific observing projects, the telescope is scripted to conduct autonomous supernova searches by patrolling dozens of galaxies throughout the night. Our goal is to have the instrument scheduled for continuous observing of the heavens throughout the year on all clear evenings.

MONET/North: a very fast 1.2m robotic telescope

NASA Astrophysics Data System (ADS)

Bischoff, Karsten; Tuparev, Georg; Hessman, Frederic V.; Nikolova, Irina

2006-06-01

The first of two 1.2m MONET robotic telescopes became operational at McDonald Observatory in Texas in spring 2006, the second one will be erected at the South African Astronomical Observatory's Sutherland Station. About 60% of the observing time is dedicated to scientific use by the consortium (Univ. Göttingen, McDonald Obs. and the South African Astron. Obs.) and 40% is for public and school outreach. The alt-az-mounted f/7 RC imaging telescopes are optimized for fast operations, with slewing speeds up to 10°/sec in all axes, making them some of the fastest of their class in the world. The unusual clam-shell enclosures provide the telescopes with nearly unobstructed views of the sky. The new observatory control system fully utilizes the hardware capabilities and permits local, remote, and robotic operations and scheduling, including the monitoring of the weather, electric power, the building, current seeing, all software processes, and the archiving of new data.

Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot

NASA Astrophysics Data System (ADS)

Ding, Wan; Wu, Jianxu; Yao, Yan'an

2015-07-01

Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(DoFs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules' construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules' construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules' construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot.

An observatory control system for the University of Hawai'i 2.2m Telescope

NASA Astrophysics Data System (ADS)

McKay, Luke; Erickson, Christopher; Mukensnable, Donn; Stearman, Anthony; Straight, Brad

2016-07-01

The University of Hawai'i 2.2m telescope at Maunakea has operated since 1970, and has had several controls upgrades to date. The newest system will operate as a distributed hierarchy of GNU/Linux central server, networked single-board computers, microcontrollers, and a modular motion control processor for the main axes. Rather than just a telescope control system, this new effort is towards a cohesive, modular, and robust whole observatory control system, with design goals of fully robotic unattended operation, high reliability, and ease of maintenance and upgrade.

Innovation in robotic surgery: the Indian scenario.

PubMed

Deshpande, Suresh V

2015-01-01

Robotics is the science. In scientific words a "Robot" is an electromechanical arm device with a computer interface, a combination of electrical, mechanical, and computer engineering. It is a mechanical arm that performs tasks in Industries, space exploration, and science. One such idea was to make an automated arm - A robot - In laparoscopy to control the telescope-camera unit electromechanically and then with a computer interface using voice control. It took us 5 long years from 2004 to bring it to the level of obtaining a patent. That was the birth of the Swarup Robotic Arm (SWARM) which is the first and the only Indian contribution in the field of robotics in laparoscopy as a total voice controlled camera holding robotic arm developed without any support by industry or research institutes.

The complex of robotic telescopes for observation of Earth's artificial satellites and near-Earth objects

NASA Astrophysics Data System (ADS)

Shulga, A. V.; Kozyrev, E. S.; Kovalchuk, A. N.; Chernozub, V. M.; Sibiryakova, E. S.; Bochkarev, A. B.; Lopachenko, V. V.; Ryhalsky, V. V.

2010-05-01

Modern tasks for orbit control of the Earth artificial satellites and objects approaching the Earth define high requirements to ground-based telescopes, which have to be equipped with fast objectives, CCD cameras with a chip size not less than two inches. The CCD camera has to work in different modes. The telescopes must be fully robotized, and have a control system with remote operation and alert mode. In cooperation between RI NAO and NSFCTC, the upgrade of the AZT-8 classical telescope, belonging to NSFCTC, was made. Two telescopes of original design, namely the Fast Robotic Telescope (FRT) and the Mobile Telescope (MobiTel) were made in RI NAO. The telescopes are equipped with absolute angle encoders, CCD cameras with Kodak KAF-09000 chips, GPS time service, robotic drives and an automatic control system. The telescope features, such as a telescope name, f-number, chip name and operating modes, pixel numbers, field of view, pixel sizes, pixel scale, limiting magnitude, the standard deviation are given in the following list: 1) AZT-8(NSFCTC), 0.7/2.8 m, FLI PL09000 stare, 3056x3056, 45x45', 12x12 μm, 0.9"/pix, 20m, 0.05"/0.15"; 2) FRT (NAO), 0.3/1.5 m, Alta U9000stare and drift-scan, 3056x3056, 1°24'x1°24', 12x12 μm, 1.6"/pix, 18m, 0.15"/0.40"; 3) MobiTel-0.5(NAO), 0.5/3.0 m, Alta U9000stare and drift-scan,3056x3056, 42x42, 12x12μm, 0.8"/pix, 19m,0.0"05"/0".15"; 4) MobiTel-0.3(NAO), 0.3/0.75 m, Alta U9000 stare and drift-scan, 3056x3056, 2°48x2°48', 12x12 μm, 3.2"/pix, 18 m, 0.20"/0.45". The telescopes are actively used for control of the near-Earth space as well as for the solution of problems connected with thepotentially hazardous asteroids and comets approaching the Earth. Combination of classical and original methods of observations allows us to carry out virtually any observing programme. Considering objects at geostationary orbits and at highly elliptical orbits, we are able to carry out the following types of observations: massive-survey, boundary-search, high accuracy-single object. To solve the problems connected with the potentially hazardous asteroids and comets approaching the Earth, we are able to observe faint objects located in the asteroid belt as well as objects approaching the Earth at the distance less than 0.1 a.u. and with elongation angle up to 130°.

First Steps Toward K-12 Teacher Professional Development Using Internet-based Telescopes

NASA Astrophysics Data System (ADS)

Berryhill, K. J.; Gershun, D.; Slater, T. F.; Armstrong, J. D.

2012-12-01

How can science teachers become more familiar with emerging technology, excite their students and give students a taste of astronomy research? Astronomy teachers do not always have research experience, so it is difficult for them to convey to students how researchers use telescopes. The nature of astronomical observation (e.g., remote sites, expensive equipment, and odd hours) has been a barrier to providing teachers with insight into the process. Robotic telescopes (operated automatically with queued observing schedules) and remotely controlled telescopes (controlled by the user via the Internet) allow scientists to conduct observing sessions on research-grade telescopes half a world away. The same technology can now be harnessed by STEM educators to engage students and reinforce what is being taught in the classroom, as seen in some early research in elementary schools (McKinnon and Mainwaring 2000 and McKinnon and Geissinger 2002), and middle/high schools (Sadler et al. 2001, 2007 and Gehret et al. 2005). However, teachers need to be trained to use these resources. Responding to this need, graduate students and faculty at the University of Wyoming and CAPER Center for Astronomy & Physics Education Research are developing teacher professional development programs using Internet-based telescopes. We conducted an online course in the science education graduate program at the University of Wyoming. This course was designed to sample different types of Internet-based telescopes to evaluate them as resources for teacher professional development. The 10 participants were surveyed at the end of the course to assess their experiences with each activity. In addition, pre-test/post-test data were collected focusing specifically on one of the telescopes (Gershun, Berryhill and Slater 2012). Throughout the course, the participants learned to use a variety of robotic and remote telescopes including SLOOH Space Camera (www.slooh.com), Sky Titan Observatory (www.skytitan.org), Faulkes Telescope North (FTN—part of Las Cumbres Observatory Global Telescope Network—www.lcogt.net), and the MicroObservatory Robotic Telescope Network (http://mo-www.cfa.harvard.edu/MicroObservatory). As is common in astronomy observation, the class experienced setbacks to observing plans from a variety of sources, including clouds, dust storms, wind, instrument malfunctions, and light pollution from a nearby rodeo. Participants requested observations on robotic telescopes and directly controlled remote telescopes (FTN and Sky Titan). Data from the surveys suggest the theme that the ability to control telescopes in real time is of significant educational value, despite 6 of 10 participants citing frustrations due to equipment malfunctions and weather. Future courses will need backup plans or dates to account for the possibility of lost observing time. Participants used a variety of software tools to analyze data. Survey data showed the LCOGT Agent Exoplanet citizen science exercise to be an important learning event in the progression toward using SalsaJ to create exoplanet light curves from FTN data. Much of the data from FTN and Sky Titan used by participants was not collected during the observing runs due to issues noted above. The telescope operators provided previous data for analysis. None of the evidence we collected indicates that this lack of direct linkage is a problem.

Gamma--Ray burst afterglows with the Watcher robotic telescope

NASA Astrophysics Data System (ADS)

Topinka, M.; Hanlon, L.; Meehan, S.; Tisdall, P.; Jelínek, M.; Kubánek, P.; van Heerden, H.; Meintjes, P.

2014-12-01

The main scientific goal of the Watcher robotic telescope is the rapid follow-up observation of gamma--ray burst afterglows. Some examples of recent observations, including GRB 120327A and GRB 130606A, at a redshift of 5.9, are presented. The telescope has recently been successfully integrated into the GLORIA global robotic telescope network, which allows users to use the array for their own scientific projects.

The ACE multi-user web-based Robotic Observatory Control System

NASA Astrophysics Data System (ADS)

Mack, P.

2003-05-01

We have developed an observatory control system that can be operated in interactive, remote or robotic modes. In interactive and remote mode the observer typically acquires the first object then creates a script through a window interface to complete observations for the rest of the night. The system closes early in the event of bad weather. In robotic mode observations are submitted ahead of time through a web-based interface. We present observations made with a 1.0-m telescope using these methods.

ProtoDESI: First On-Sky Technology Demonstration for the Dark Energy Spectroscopic Instrument

NASA Astrophysics Data System (ADS)

Fagrelius, Parker; Abareshi, Behzad; Allen, Lori; Ballester, Otger; Baltay, Charles; Besuner, Robert; Buckley-Geer, Elizabeth; Butler, Karen; Cardiel, Laia; Dey, Arjun; Duan, Yutong; Elliott, Ann; Emmet, William; Gershkovich, Irena; Honscheid, Klaus; Illa, Jose M.; Jimenez, Jorge; Joyce, Richard; Karcher, Armin; Kent, Stephen; Lambert, Andrew; Lampton, Michael; Levi, Michael; Manser, Christopher; Marshall, Robert; Martini, Paul; Paat, Anthony; Probst, Ronald; Rabinowitz, David; Reil, Kevin; Robertson, Amy; Rockosi, Connie; Schlegel, David; Schubnell, Michael; Serrano, Santiago; Silber, Joseph; Soto, Christian; Sprayberry, David; Summers, David; Tarlé, Greg; Weaver, Benjamin A.

2018-02-01

The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the universe using the baryon acoustic oscillations technique. The spectra of 35 million galaxies and quasars over 14,000 square degrees will be measured during a 5-year survey. A new prime focus corrector for the Mayall telescope at Kitt Peak National Observatory will deliver light to 5,000 individually targeted fiber-fed robotic positioners. The fibers in turn feed ten broadband multi-object spectrographs. We describe the ProtoDESI experiment, that was installed and commissioned on the 4-m Mayall telescope from 2016 August 14 to September 30. ProtoDESI was an on-sky technology demonstration with the goal to reduce technical risks associated with aligning optical fibers with targets using robotic fiber positioners and maintaining the stability required to operate DESI. The ProtoDESI prime focus instrument, consisting of three fiber positioners, illuminated fiducials, and a guide camera, was installed behind the existing Mosaic corrector on the Mayall telescope. A fiber view camera was mounted in the Cassegrain cage of the telescope and provided feedback metrology for positioning the fibers. ProtoDESI also provided a platform for early integration of hardware with the DESI Instrument Control System that controls the subsystems, provides communication with the Telescope Control System, and collects instrument telemetry data. Lacking a spectrograph, ProtoDESI monitored the output of the fibers using a fiber photometry camera mounted on the prime focus instrument. ProtoDESI was successful in acquiring targets with the robotically positioned fibers and demonstrated that the DESI guiding requirements can be met.

Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.

PubMed

Chikhaoui, Mohamed Taha; Benouhiba, Amine; Rougeot, Patrick; Rabenorosoa, Kanty; Ouisse, Morvan; Andreff, Nicolas

2018-04-30

Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.

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.

ProtoDESI: First On-Sky Technology Demonstration for the Dark Energy Spectroscopic Instrument

DOE PAGES

Fagrelius, Parker; Abareshi, Behzad; Allen, Lori; ...

2018-01-15

The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the universe using the baryon acoustic oscillations technique. The spectra of 35 million galaxies and quasars over 14,000 square degrees will be measured during a 5-year survey. A new prime focus corrector for the Mayall telescope at Kitt Peak National Observatory will deliver light to 5,000 individually targeted fiber-fed robotic positioners. The fibers in turn feed ten broadband multi-object spectrographs. We describe the ProtoDESI experiment, that was installed and commissioned on the 4-m Mayall telescope from 2016 August 14 to September 30. ProtoDESI was anmore » on-sky technology demonstration with the goal to reduce technical risks associated with aligning optical fibers with targets using robotic fiber positioners and maintaining the stability required to operate DESI. The ProtoDESI prime focus instrument, consisting of three fiber positioners, illuminated fiducials, and a guide camera, was installed behind the existing Mosaic corrector on the Mayall telescope. A fiber view camera was mounted in the Cassegrain cage of the telescope and provided feedback metrology for positioning the fibers. ProtoDESI also provided a platform for early integration of hardware with the DESI Instrument Control System that controls the subsystems, provides communication with the Telescope Control System, and collects instrument telemetry data. In conclusion, lacking a spectrograph, ProtoDESI monitored the output of the fibers using a fiber photometry camera mounted on the prime focus instrument. ProtoDESI was successful in acquiring targets with the robotically positioned fibers and demonstrated that the DESI guiding requirements can be met.« less

ProtoDESI: First On-Sky Technology Demonstration for the Dark Energy Spectroscopic Instrument

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

Fagrelius, Parker; Abareshi, Behzad; Allen, Lori

The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the universe using the baryon acoustic oscillations technique. The spectra of 35 million galaxies and quasars over 14,000 square degrees will be measured during a 5-year survey. A new prime focus corrector for the Mayall telescope at Kitt Peak National Observatory will deliver light to 5,000 individually targeted fiber-fed robotic positioners. The fibers in turn feed ten broadband multi-object spectrographs. We describe the ProtoDESI experiment, that was installed and commissioned on the 4-m Mayall telescope from 2016 August 14 to September 30. ProtoDESI was anmore » on-sky technology demonstration with the goal to reduce technical risks associated with aligning optical fibers with targets using robotic fiber positioners and maintaining the stability required to operate DESI. The ProtoDESI prime focus instrument, consisting of three fiber positioners, illuminated fiducials, and a guide camera, was installed behind the existing Mosaic corrector on the Mayall telescope. A fiber view camera was mounted in the Cassegrain cage of the telescope and provided feedback metrology for positioning the fibers. ProtoDESI also provided a platform for early integration of hardware with the DESI Instrument Control System that controls the subsystems, provides communication with the Telescope Control System, and collects instrument telemetry data. In conclusion, lacking a spectrograph, ProtoDESI monitored the output of the fibers using a fiber photometry camera mounted on the prime focus instrument. ProtoDESI was successful in acquiring targets with the robotically positioned fibers and demonstrated that the DESI guiding requirements can be met.« less

Discovering Cepheid and RR Lyrae Stars: Pan-STARRS Science Archive @ STScI and Robotically Controlled Telescopes

NASA Astrophysics Data System (ADS)

Johnson, Elizabeth; Strolger, Louis-Gregory; Engle, Scott G.; Anderson, Richard I.; Rest, Armin; Calamida, Annalisa; Dosovitz Fox, Ori; Laney, David

2017-01-01

Cepheid and RR Lyrae stars are an integral part of the cosmic distance ladder and are also useful for studying galactic structure and stellar ages. This project aims to greatly expand the number of known periodic variables in our galaxy by identifying candidates in the PanSTARRS-1 3pi catalog, and carrying out systematically targeted characterization with robotically controlled telescopes. Candidate targets are selected from available detection tables based on color and variability indices and are then fully vetted using robotic telescopes: the RCT 1.3 meter (Kitt Peak National Observatory) and RATIR 1.5 meter (Mexico). Here we present work to develop a full, semi-automated prescription for candidate selection, targeted follow-up photometry, cataloging, and classification, which allows the review of approximately 25 variable candidates every two weeks. We make comparisons of our sample selection and purity from a similar study based on Pan-STARRS data (Hernitschek et al. 2016), as well as candidates identified in Gaia DR1. The goal, through continued observation and analysis, is to identify at least 10,000 new variables, hundreds of which will be new Cepheid and RR Lyrae stars.

RTML: remote telescope markup language and you

NASA Astrophysics Data System (ADS)

Hessman, F. V.

2001-12-01

In order to coordinate the use of robotic and remotely operated telescopes in networks -- like Göttingen's MOnitoring NEtwork of Telescopes (MONET) -- a standard format for the exchange of observing requests and reports is needed. I describe the benefits of Remote Telescope Markup Language (RTML), an XML-based protocol originally developed by the Hands-On Universe Project, which is being used and further developed by several robotic telescope projects and firms.

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.

Two ESA astronauts named to early Hubble Space Telescope servicing mission

NASA Astrophysics Data System (ADS)

1999-03-01

Nicollier and three NASA astronauts, who had already been training for a Hubble servicing mission planned for June 2000, have been reassigned to this earlier mission (STS-103). Jean-Francois Clervoy and two other NASA astronauts will complete the STS-103 crew. The repairs and maintenance of the telescope will require many hours spent working outside the Shuttle and will make extensive use of the Shuttle's robotic arm Nicollier, of Swiss nationality and making his fourth flight, will be part of the team that will perform the "spacewalks". An astronomer by education, he took part in the first Hubble servicing mission (STS-61) in 1993, controlling the Shuttle's robotic arm while astronauts on the other end of the arm performed the delicate repairs to the telescope. He also served on STS-46 in 1992 using the robotic arm to deploy ESA's Eureca retrievable spacecraft from the Shuttle, and on STS-75 with the Italian Tethered Satellite System in 1996. Nicollier is currently the chief of the robotics branch in NASA's astronaut office and ESA's lead astronaut in Houston. Jean-Francois Clervoy, of French nationality and making his third flight, will have the lead role in the operation of the robotic arm for this mission. He previously served on STS-66 in 1994 using the robotic arm to deploy and later retrieve the German CRISTA-SPAS atmospheric research satellite, and on STS-84 in 1997, a Shuttle mission to the Russian Mir space station. The other STS-103 crewmembers are: Commander Curtis Brown, pilot Scott Kelly, and mission specialists Steven Smith, Michael Foale and John Grunsfeld. During the flight, the astronauts will replace Hubble's failing pointing system, which allows the telescope to aim at stars, planets and other targets, and install other equipment that will be ready for launch at that time. A second mission to complete the previously-scheduled Hubble refurbishment work is foreseen at a later date. The crew for that mission has not yet been assigned. The Hubble Space Telescope, launched in 1990, is one of the most powerful optical telescopes available to astronomers today, producing images and spectral observations at the forefront of astronomy. ESA contributed a 15 share to the development of Hubble and European astronomers receive in return a guaranteed 15 share of observing time (and 20 on average in practice).

Using the ISS as a testbed to prepare for the next generation of space-based telescopes

NASA Astrophysics Data System (ADS)

Postman, Marc; Sparks, William B.; Liu, Fengchuan; Ess, Kim; Green, Joseph; Carpenter, Kenneth G.; Thronson, Harley; Goullioud, Renaud

2012-09-01

The infrastructure available on the ISS provides a unique opportunity to develop the technologies necessary to assemble large space telescopes. Assembling telescopes in space is a game-changing approach to space astronomy. Using the ISS as a testbed enables a concentration of resources on reducing the technical risks associated with integrating the technologies, such as laser metrology and wavefront sensing and control (WFS&C), with the robotic assembly of major components including very light-weight primary and secondary mirrors and the alignment of the optical elements to a diffraction-limited optical system in space. The capability to assemble the optical system and remove and replace components via the existing ISS robotic systems such as the Special Purpose Dexterous Manipulator (SPDM), or by the ISS Flight Crew, allows for future experimentation as well as repair if necessary. In 2015, first light will be obtained by the Optical Testbed and Integration on ISS eXperiment (OpTIIX), a small 1.5-meter optical telescope assembled on the ISS. The primary objectives of OpTIIX include demonstrating telescope assembly technologies and end-to-end optical system technologies that will advance future large optical telescopes.

Unsolved problems in observational astronomy. II. Focus on rapid response - mining the sky with ``thinking" telescopes

NASA Astrophysics Data System (ADS)

Vestrand, W. T.; Theiler, J.; Woznia, P. R.

2004-10-01

The existence of rapidly slewing robotic telescopes and fast alert distribution via the Internet is revolutionizing our capability to study the physics of fast astrophysical transients. But the salient challenge that optical time domain surveys must conquer is mining the torrent of data to recognize important transients in a scene full of normal variations. Humans simply do not have the attention span, memory, or reaction time required to recognize fast transients and rapidly respond. Autonomous robotic instrumentation with the ability to extract pertinent information from the data stream in real time will therefore be essential for recognizing transients and commanding rapid follow-up observations while the ephemeral behavior is still present. Here we discuss how the development and integration of three technologies: (1) robotic telescope networks; (2) machine learning; and (3) advanced database technology, can enable the construction of smart robotic telescopes, which we loosely call ``thinking'' telescopes, capable of mining the sky in real time.

Goddard Robotic Telescope - Optical Follow-up of GRBs and Coordinated Observations of AGNs

NASA Technical Reports Server (NTRS)

Sakamoto, T.; Wallace, C. A.; Donato, D.; Gehrels, N.; Okajima, T.; Ukwatta, T. N.

2010-01-01

Since it is not possible to predict when a Gamma-Ray Burst (GRB) will occur or when Active Galactic Nucleus (AGN) flaring activity starts, follow-up/monitoring ground telescopes must be located as uniformly as possible all over the world in order to collect data simultaneously with Fermi and Swift detections. However, there is a distinct gap in follow-up coverage of telescopes in the eastern U.S. region based on the operations of Swift. Motivated by this fact, we have constructed a 14" fully automated optical robotic telescope, Goddard Robotic Telescope (GRT), at the Goddard Geophysical and Astronomical Observatory. The aims of our robotic telescope are 1) to follow-up Swift/Fermi GRBs and 2) to perform the coordinated optical observations of Fermi Large Area Telescope (LAT) AGN. Our telescope system consists of off-the-shelf hardware. With the focal reducer, we are able to match the field of view of Swift narrow instruments (20' x 20'). We started scientific observations in mid-November 2008 and GRT has been fully remotely operated since August 2009. The 3(sigma) upper limit in a 30-second exposure in the R filter is approx.15.4 mag; however, we can reach to approx.18 mag in a 600-second exposures. Due to the weather condition at the telescope site. our observing efficiency is 30-40%, on average.

Quality Control of The Miniature Exoplanet Radio Velocity Array(MINERVA)

NASA Astrophysics Data System (ADS)

Rivera García, Kevin O.; Eastman, Jason D.

2017-01-01

The MINiature Exoplanet Radial Velocity Array, also known as MINERVA , is a network of four robotic 0.7 meter telescopes that is conducting a Radial Velocity survey of the nearest, brightest stars in search of small and rocky exoplanets. The robotic telescope array is located in Fred Lawrence Whipple Observatory in Arizona. MINERVA began science operations in 2015 and we are constantly improving its observing efficiency. We will describe performance statistics that we have developed in Python to proactively identify problems before they impede observations. We have written code to monitor the pointing error for each telescope to ensure it will always be able to acquire a target in the 3 arcminute field of view of its acquisition camera, but there are still some issues that need to be identified. The end goal for this research is to automatically address any common malfunction that may cause the observation to fail and ultimately improve our observing efficiency.

Liverpool Telescope and Liverpool Telescope 2

NASA Astrophysics Data System (ADS)

Copperwheat, C. M.; Steele, I. A.; Barnsley, R. M.; Bates, S. D.; Clay, N. R.; Jermak, H.; Marchant, J. M.; Mottram, C. J.; Piascik, A.; Smith, R. J.

2016-12-01

The Liverpool Telescope is a fully robotic optical/near-infrared telescope with a 2-metre clear aperture, located at the Observatorio del Roque de los Muchachos on the Canary Island of La Palma. The telescope is owned and operated by Liverpool John Moores University, with financial support from the UK's Science and Technology Facilities Council. The telescope began routine science operations in 2004 and is a common-user facility with time available through a variety of committees via an open, peer reviewed process. Seven simultaneously mounted instruments support a broad science programme, with a focus on transient follow-up and other time domain topics well suited to the characteristics of robotic observing. Development has also begun on a successor facility, with the working title `Liverpool Telescope 2', to capitalise on the new era of time domain astronomy which will be brought about by the next generation of survey facilities such as LSST. The fully robotic Liverpool Telescope 2 will have a 4-metre aperture and an improved response time. In this paper we provide an overview of the current status of both facilities.

Evaluating SLOOH Robotic Telescopes for Formal Educational Use

NASA Astrophysics Data System (ADS)

Gershun, D.; Berryhill, K. J.; Slater, T. F.

2012-12-01

The past several years has seen a gradual shift from telescopes being used only by top researchers to a case where educators across the STEM spectrum now have access to quality telescopes. This has been made possible by equipping telescopes to be controlled over the internet, either robotically which requires no human interaction during observation, or remotely which retain full user controllability. Education researchers around the world have recently focused on applications in elementary and secondary education (McKinnon & Geissinger 2002, Sadler et al. 2007). Responding to this paradigm shift, graduate students and faculty at the University of Wyoming and Center for Physic & Astronomy Education Research (www.caperteam.com) are dedicating time to explore this further at the undergraduate level, in order to better advise STEM educators of the most effective technological resources and curriculum development. Current research focuses on evaluating the academic merit of using SLOOH Space Camera in a summer online course offered by the University of Wyoming Outreach Program. SLOOH has robotic telescopes in the Canary Islands and La Dehesa, Chile. This evaluation will provide valuable data on an emerging technology as well as serve to advise future introductory astronomy sections at the University of Wyoming on the use of similar internet-controlled telescopes. The eight-week course exposed nine graduate science education students to basic night sky observing knowledge as well as provided hands-on experience using several robotic and remote observatories1,2,3,4. This mixed-methods case study collected data in the forms of six focus-group recordings, pre- and post-tests from all participants, a post-class survey, and general observations by the lead researcher. Transcripts and comments are coded to determine the most important features of SLOOH, and testing measures are analyzed to gauge the incoming and outgoing knowledge of participants. Analysis of testing measures has shown a slight increase in the class average from 55% to 69% +/- 21% and has not been determined to be statistically significant. Analysis of transcripts and surveys finds categories relating to "Images" and "Interface" as contributing to both the strengths and limitations of SLOOH. Even though there is a limit on how many images a user may capture during a single mission, images are more than adequate in quality, and do not need to be processed. This tends to be appealing for students who are starting out in astronomy and may be motivated more by capturing their own pictures rather than looking at archived photos. Although robotic in nature, SLOOH does allow users the option to view and capture images in real-time, giving users more of a personal connection than other robotic telescopes. However, if a class does not meet when SLOOH is active, then students will not be able to witness this process. The ability to join other user's missions creates a friendly community atmosphere, essential to the process of learning science at any level. Such analysis has provided evidence indicating that SLOOH Space Camera merits further investigation in an undergraduate introductory astronomy setting. 1. SLOOH Space Camera—www.slooh.com 2. MicroObservatory— http://mo-www.cfa.harvard.edu/MicroObservatory 3. Sky Titan Observatory—www.skytitan.org 4. Faulkes North Telescope—www.lcogt.net

The SPIRIT Telescope Initiative: Six Years On (Abstract)

NASA Astrophysics Data System (ADS)

Luckas, P.

2017-12-01

(Abstract only) Now in its sixth year of operation, the SPIRIT initiative remains unique in Australia, as a robust web-enabled robotic telescope initiative funded for education and outreach. With multiple modes of operation catering for a variety of usage scenarios and a fully supported education program, SPIRIT provides free access to contemporary astronomical tools for students and educators in Western Australia and beyond. The technical solution itself provides an excellent model for low cost robotic telescope installations, and the education program has evolved over time to include a broad range of student experiences - from engagement activities to authentic science. This paper details the robotic telescope solution, student interface, and educational philosophy, summarizes achievements and lessons learned, and examines the possibilities for future enhancement including spectroscopy.

The SPIRIT Telescope Initiative: six years on

NASA Astrophysics Data System (ADS)

Luckas, Paul

2017-06-01

Now in its sixth year of operation, the SPIRIT initiative remains unique in Australia, as a robust web-enabled robotic telescope initiative funded for education and outreach. With multiple modes of operation catering for a variety of usage scenarios and a fully supported education program, SPIRIT provides free access to contemporary astronomical tools for students and educators in Western Australia and beyond. The technical solution itself provides an excellent model for low cost robotic telescope installations, and the education program has evolved over time to include a broad range of student experiences-from engagement activities to authentic science. This paper details the robotic telescope solution, student interface and educational philosophy, summarises achievements and lessons learned and examines the possibilities for future enhancement including spectroscopy.

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.

Desarrollo de una Interfaz de Control para un Observatorio Astronómico Robotizado con fines educativos en la Facultad de Ciencias Exactas; Físicas y Naturales de la UNSJ

NASA Astrophysics Data System (ADS)

Pogrebinsky, L.; Francile, C.

We report the development and the construction of an Interface to Control a robotized Astronomical Observatory (ICOA), which allows to control the operation of an observatory based on a Meade LX200 telescope. The interface operates together with a computer to control and supervise all the local variables of the observatory, and can take the control of it in risky situations. It serves as a link among the control computer and all the necessary devices for the astronomical observation such as the telescope, the dome, the weather station, the CCD camera, the calibration devices and the security devices. The computer receives orders from an operator who can be or not at the site of observation. The goal of this robotized observatory is the operation in a secure, autonomous and unattended way, with the purpose of to be used remotely by the students of the "Facultad de Ciencias Exactas, Físicas y Naturales" of the UNSJ. FULL TEXT IN SPANISH

Atmospheric Seeing and Transparency Robotic Observatory

NASA Astrophysics Data System (ADS)

Cline, J. D.; Castelaz, M. W.

2002-12-01

A robotic 12.7 cm telescope and camera (together called OVIEW) have been designed to do photometry of 50 of the brightest stars in the local sky 24 hours a day. Each star is imaged through a broadband 500 nm filter. Software automatically analyzes the brightness of the star and the stellar seeing disk. The results are published in real-time on a web page. Comparison of stellar brightness with known apparent magnitude is a measure of transparency with instrument resolution of one arcsecond. We will describe the observatory, software, and website. We will also describe other telescopes on the Optical Ridge at the Pisgah Astronomical Research Institute (PARI). On the same pier as OVIEW is a second robotic 12.7 cm telescope and camera that image the sun and moon. The solar and lunar images are published live on the Internet. Also on the Optical Ridge is a robotic 20 cm telescope. This telescope is operated by UNC-Chapel Hill and has been operating on the Optical Ridge for more than 2 years surveying the plane of the Milky Way for binary low mass stars. UNC-Chapel Hill also operates a 25 cm telescope with an IR camera for photometry of gamma ray burst optical afterglows. An additional 25 cm telescope with a new 3.2 megapixel CCD is used for undergraduate research and W UMa binary star photometry. We acknowledge the AAS Small Grant Program for partial support of the solar/lunar telescope.

The Virtual Telescope Project: Enjoy the Universe from your desktop

NASA Astrophysics Data System (ADS)

Masi, G.

2008-06-01

The Virtual Telescope is a new robotic facility that makes possible for people worldwide to participate in real-time observations of the sky. Complete scientific instruments are made available, matching the needs of researchers, students and amateur astronomers. Instruments are controlled live and in real time by the remote user while qualified assistance is made available from a professional astronomer, to assist and address the observing experience. The project consists of several remote controlled and independent telescopes, including solar scopes for daytime observations. Their diameters range from 40-360 mm. The project and the technology involved are presented here, as well as the peculiar benefits for students and other users.

New robotic telescopes by Halfmann-Teleskoptechnik GmbH and Tuparev Technologies Inc.

NASA Astrophysics Data System (ADS)

Bischoff, Karsten; Hessman, Frederic V.; Tuparev, Georg; Atanasova, Ekatarina; Pessev, Peter

2008-07-01

We will present aspects of the installation, commissioning, software development, and early operation of several new robotic telescopes: 1) the 1.2-m MONET/South telescope at Sutherland/ZA, the second Halfmann telescope for the MONET telescope network (the other telescope has been in operation at McDonald Observatory in Texas since early 2006); 2) a siderostat for a 0.5-m vacuum tower telescope for the new physics building of the Georg-August-Universitat Göttingen and 3) new developments for smaller (down to 0.5m) aperture telescopes. Special emphasis will be given to drive technology: using torque motors we adjust maximum slewing speeds of 10°/sec as standard. Although sufficient for most projects we are investigating even faster slewing speeds.

EVA 3 - Linnehan and Grunsfeld install new PCU

NASA Image and Video Library

2002-03-06

STS109-E-5660 (6 March 2002) --- Astronauts John M. Grunsfeld (top) and Richard M. Linnehan participate in a 6 hour, 48 minute space walk designed to install a new Power Control Unit (PCU) on the Hubble Space Telescope (HST). The two went on to replace the original unit launched with the telescope in April 1990. Grunsfeld is on the end of Columbia's Remote Manipulator System (RMS) robotic arm, controlled from inside the crew cabin by astronaut Nancy J. Currie. The image was recorded with a digital still camera.

G-133: A soft x ray solar telescope

NASA Technical Reports Server (NTRS)

Williams, Memorie K.; Campbell, Branton; Roming, Peter W. A.; Spute, Mark K.; Moody, J. Ward

1992-01-01

The GOLDHELOX Project, NASA payload number G-133, is a robotic soft x ray solar telescope designed and built by an organization of undergraduate students. The telescope is designed to observe the sun at a wavelength of 171 to 181 A. Since we require observations free from atmospheric interference, the telescope will be launched in a NASA Get-Away-Special (GAS) canister with a Motorized Door Assembly (MDA). In this paper we primarily discuss the most important elements of the telescope itself. We also elaborate on some of the technical difficulties associated with doing good science in space on a small budget (about $100,000) and mention ways in which controlling the instrument environment has reduced the complexity of the system and thus saved us money.

Flagstaff Robotic Survey Telescope (FRoST): Rapid Response for NEOs

NASA Astrophysics Data System (ADS)

Avner, Louis Daniel; Trilling, David E.; Dunham, Edward W.

2016-10-01

The Flagstaff Robotic Survey Telescope (FRoST) is a robotic 0.6m Schmidt telescope that will be used for instant follow-up observations of newly discovered Near Earth Objects (NEOs). Here, we present the progress being made on FRoST as well as the remaining tasks until the telescope is fully operational. With more than one thousand NEOs being found yearly, more telescopes are needed to carry out follow-up observations. Most NEOs are found at their peak brightness, meaning that these observations need to happen quickly before they fade. By using the Catalina Sky Survey Queue Manager, FRoST will be able to accept interruptions during the night and prioritize observations automatically, allowing instant follow-up observations. FRoST will help refine the orbit of these newly discovered objects while providing optical colors. We will ingest information from the NEOCP and JPL's Scout program at five minute intervals and observe newly discovered targets robotically, process the data automatically, and autonomously generate astrometry and colors. We estimate that will we provide essentially 100% recovery of objects brighter than V~20. This work was supported by the NSF MRI program as well as by NAU and Lowell Observatory.

MONET: a MOnitoring NEtwork of Telescopes

NASA Astrophysics Data System (ADS)

Hessman, F. V.; Beuermann, K.

2002-01-01

MONET is a planned network of two 1m-class robotic telescopes which will be used for various photometric monitoring projects -- variable stars, planet searches, AGN's, GRB's -- as well as by school children in Germany and over the world. The two host partners, the Univ. of Texas' McDonald Observatory and the South African Astronomical Observatory, will operate the telescopes in exchange for observing time on the network. MONET will be one of the first robotic telescope networks offering 1-m class telescopes, complete coverage of the sky, good longitude coverage for long observing sequences on objects near the celestial equator, and a heavy educational emphasis.

Variable Star Observing with the Bradford Robotic Telescope

NASA Astrophysics Data System (ADS)

Kinne, R. C. S.

2012-06-01

(Abstract only) The Bradford Robotic Telescope (BRT) is a collection of telescopes and other instruments located on Mount Teide, Tenerife, Canary Islands; this resource is available to all for use at no cost (http://www.telescope.org/info/BRT_information). With the recent addition of Johnson BVRI filters on the BRT's 24 square arc minute camera, this telescope has become a resource to be considered when monitoring certain stars such as LPVs. This presentation will examine the mechanics of observing with the BRT and show examples of work that has been done by the author and how those data have been reduced using VPhot.

ACS (Alma Common Software) operating a set of robotic telescopes

NASA Astrophysics Data System (ADS)

Westhues, C.; Ramolla, M.; Lemke, R.; Haas, M.; Drass, H.; Chini, R.

2014-07-01

We use the ALMA Common Software (ACS) to establish a unified middleware for robotic observations with the 40cm Optical, 80cm Infrared and 1.5m Hexapod telescopes located at OCA (Observatorio Cerro Armazones) and the ESO 1-m located at La Silla. ACS permits to hide from the observer the technical specifications, like mount-type or camera-model. Furthermore ACS provides a uniform interface to the different telescopes, allowing us to run the same planning program for each telescope. Observations are carried out for long-term monitoring campaigns to study the variability of stars and AGN. We present here the specific implementation to the different telescopes.

Using Internet-Based Robotic Telescopes to Engage Non-Science Majors in Astronomical Observation

NASA Astrophysics Data System (ADS)

Berryhill, K. J.; Coble, K.; Slater, T. F.; McLin, K. M.; Cominsky, L. R.

2013-12-01

Responding to national science education reform documents calling for students to have more opportunities for authentic research experiences, several national projects have developed online telescope networks to provide students with Internet-access to research grade telescopes. The nature of astronomical observation (e.g., remote sites, expensive equipment, and odd hours) has been a barrier in the past. Internet-based robotic telescopes allow scientists to conduct observing sessions on research-grade telescopes half a world away. The same technology can now be harnessed by STEM educators to engage students and reinforce what is being taught in the classroom, as seen in some early research in elementary schools (McKinnon and Mainwaring 2000 and McKinnon and Geissinger 2002), middle/high schools (Sadler et al. 2001, 2007 and Gehret et al. 2005) and undergraduate programs (e.g., McLin et al. 2009). This project looks at the educational value of using Internet-based robotic telescopes in a general education introductory astronomy course at the undergraduate level. Students at a minority-serving institution in the midwestern United States conducted observational programs using the Global Telescope Network (GTN). The project consisted of the use of planetarium software to determine object visibility, observing proposals (with abstract, background, goals, and dissemination sections), peer review (including written reviews and panel discussion according to NSF intellectual merit and broader impacts criteria), and classroom presentations showing the results of the observation. The GTN is a network of small telescopes funded by the Fermi mission to support the science of high energy astrophysics. It is managed by the NASA E/PO Group at Sonoma State University and is controlled using SkyNet. Data includes course artifacts (proposals, reviews, panel summaries, presentations, and student reflections) for six semesters plus student interviews. Using a grounded theory approach, the data were coded to examine the value that the students did or did not gain from the project, including students' understanding of the process of science. Preliminary analysis of course artifacts and interviews suggest that students value using research-grade instrumentation after obtaining their own scientific data and develop deeper understandings of the nature of scientific research when formulating proposals for telescope use.

Mothers of Invention: Hubble Engineers Push Robotic 'Evolution' to Save Telescope, Enable New Exploration

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2004-01-01

Robotic technology being developed out of necessity to keep the Hubble Space Telescope operating could also lead to new levels of man-machine team-work in deep-space exploration down the road-if it survives the near-term scramble for funding. Engineers here who have devoted their NASA careers to the concept of humans servicing the telescope in orbit are planning modifications to International Space Station (ISS) robots that would leave the humans on the ground. The work. forced by post-Columbia flight rules that killed a planned shuttle-servicing mission to Hubble, marks another step in the evolution of robot-partners for human space explorers. "Hubble has always been a pathfider for this agency," says Mike Weiss. Hubble deputy program manager technical. "When the space station was flown and assembled, Hubble was the pathfinder. not just for modularity, but for operations, for assembly techniques. Exploration is the next step. Things we're going to do on Hubble are going to be applied to exploration. It's not just putting a robot in space. It's operating a robot in space. It's adapting that robot to what needs to be done the next time you're up there."

Required Technologies for A 10-16 m UV-Visible-IR Telescope on the Moon

NASA Technical Reports Server (NTRS)

Johnson, Stewart W.; Wetzel, John P.

1989-01-01

A successor to the Hubble Space Telescope, incorporating a 10 to 16 meter mirror, and operating in the UV-Visible-IR is being considered for emplacement on the Moon in the 21st Century. To take advantage of the characteristics of the lunar environment, such a telescope requires appropriate advances in technology. These technologies are in the areas of contamination/interference control, test and evaluation, manufacturing, construction, autonomous operations and maintenance, power and heating/cooling, stable precision structures, optics, parabolic antennas, and communications/control. This telescope for the lunar surface needs to be engineered to operate for long periods with minimal intervention by humans or robots. What is essential for lunar observatory operation is enforcement of a systems engineering approach that makes compatible all lunar operations associated with habitation, resource development, and science.

Eye on the Sky

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

Johnson, Spencer

Every night in a remote clearing called Fenton Hill high in the Jemez Mountains of central New Mexico, a bank of robotically controlled telescopes tilt their lenses to the sky for another round of observation through digital imaging. Los Alamos National Laboratory’s Thinking Telescopes project is watching for celestial transients including high-power cosmic flashes called blazars, and like all science, it can be messy work. But for a graduate student at the Lab taking a year’s break between master’s and Ph.D. studies, working with these state-of-the-art autonomous telescopes that can make fundamental discoveries feels light years beyond the classroom.

STS-109 Post Flight Presentation

NASA Astrophysics Data System (ADS)

2002-04-01

The STS-109 Post Flight presentation begins with Mission Specialists Nancy J. Currie, Michael J. Massimino, James H. Newman, and Richard M. Linnehan shown getting suited on launch day. Actual footage of the liftoff of the Space Shuttle Columbia is shown. Five spacewalks are performed to service the Hubble Space Telescope. Richard Linnehan and John Grunsfield are replacing solar arrays, connectors and power control units on the Hubble Space Telescope. Mission Specialist Nancy Currie will use Space Shuttle Columbia's robotic arm to grab the telescope, move it away from the orbiter and release it. A look at the coast of South America is also presented.

MS Currie at RMS controls during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5625 (5 March 2002) --- Astronaut Nancy J. Currie, mission specialist, controls the Remote Manipulator System (RMS) robotic arm of the Space Shuttle Columbia as two astronauts perform work on the Hubble Space Telescope (HST), temporarily hosted in the shuttle's cargo bay. The image was recorded with a digital still camera.

DEdicated MONitor of EXotransits and Transients (DEMONEXT): Low-Cost Robotic and Automated Telescope for Followup of Exoplanetary Transits and Transients

NASA Astrophysics Data System (ADS)

Villanueva, Steven; Eastman, Jason D.; Gaudi, B. Scott; Pogge, Richard W.; Stassun, Keivan G.; Trueblood, Mark; Trueblood, Patricia

2017-01-01

We present the design, development, and early science from the DEdicated MONitor of EXotransits and Transients (DEMONEXT), an automated and robotic 20 inch telescope jointly funded by The Ohio State University and Vanderbilt University. The telescope is a PlaneWave CDK20 f/6.8 Corrected Dall-Kirkham Astrograph telescope on a Mathis Instruments MI-750/1000 Fork Mount located at Winer Observatory in Sonoita, AZ. DEMONEXT has a Hedrick electronic focuser, Finger Lakes Instrumentation (FLI) CFW-3-10 filter wheel, and a 2048 x 2048 pixel FLI Proline CCD3041 camera with a pixel scale of 0.90 arc-seconds per pixel and a 30.7 x 30.7 arc-minute field-of-view. The telescope's automation, controls, and scheduling are implemented in Python, including a facility to add new targets in real time for rapid follow-up of time-critical targets. DEMONEXT will be used for the confirmation and detailed investigation of newly discovered planet candidates from the Kilodegree Extremely Little Telescope (KELT) survey, exploration of the atmospheres of Hot Jupiters via transmission spectroscopy and thermal emission measurements, and monitoring of select eclipsing binary star systems as benchmarks for models of stellar evolution. DEMONEXT will enable rapid confirmation imaging of supernovae, flare stars, tidal disruption events, and other transients discovered by the All Sky Automated Survey for SuperNovae (ASAS-SN).

Liverpool Telescope 2: beginning the design phase

NASA Astrophysics Data System (ADS)

Copperwheat, Christopher M.; Steele, Iain A.; Barnsley, Robert M.; Bates, Stuart D.; Bode, Mike F.; Clay, Neil R.; Collins, Chris A.; Jermak, Helen E.; Knapen, Johan H.; Marchant, Jon M.; Mottram, Chris J.; Piascik, Andrzej S.; Smith, Robert J.

2016-07-01

The Liverpool Telescope is a fully robotic 2-metre telescope located at the Observatorio del Roque de los Muchachos on the Canary Island of La Palma. The telescope began routine science operations in 2004, and currently seven simultaneously mounted instruments support a broad science programme, with a focus on transient followup and other time domain topics well suited to the characteristics of robotic observing. Work has begun on a successor facility with the working title `Liverpool Telescope 2'. We are entering a new era of time domain astronomy with new discovery facilities across the electromagnetic spectrum, and the next generation of optical survey facilities such as LSST are set to revolutionise the field of transient science in particular. The fully robotic Liverpool Telescope 2 will have a 4-metre aperture and an improved response time, and will be designed to meet the challenges of this new era. Following a conceptual design phase, we are about to begin the detailed design which will lead towards the start of construction in 2018, for first light ˜2022. In this paper we provide an overview of the facility and an update on progress.

Simulators, Remote Labs and Robotic Telescopes

NASA Astrophysics Data System (ADS)

Folhas, Alvaro

2015-04-01

There is an increasing gap between students of the twenty-first century and the teaching methodology still stuck in the past century. The myriad stimuli that involve our students, immediate consumption of information, and the availability of resources, should cast the teacher in search methodologies that encourage the student to learn. The simulators, virtual laboratories and remote controlled robotic equipment are examples of high didactic potential resources, created by scientific organizations and universities, to be used in education, providing a direct interaction with science and motivating our students to a future career in science. It is up to us to take advantage of that work, and those resources, to light the sparkle in the eyes of our students. In Astronomy Club I've developed with high school students some practical projects in science, using, over the web, the robotic telescopes through which the students are studying and photographing deep sky objects; or the European network of radio telescope, measuring the speed of the arms of our galaxy in our galactic dance, their temperatures showing where it is more likely to form new stars. Students use these tools, engaging in their own knowledge construction, and forego their Friday afternoons without a hurry to go home for the weekend. That's the spirit we want for the school.

RTS2: a powerful robotic observatory manager

NASA Astrophysics Data System (ADS)

Kubánek, Petr; Jelínek, Martin; Vítek, Stanislav; de Ugarte Postigo, Antonio; Nekola, Martin; French, John

2006-06-01

RTS2, or Remote Telescope System, 2nd Version, is an integrated package for remote telescope control under the Linux operating system. It is designed to run in fully autonomous mode, picking targets from a database table, storing image meta data to the database, processing images and storing their WCS coordinates in the database and offering Virtual-Observatory enabled access to them. It is currently running on various telescope setups world-wide. For control of devices from various manufacturers we developed an abstract device layer, enabling control of all possible combinations of mounts, CCDs, photometers, roof and cupola controllers. We describe the evolution of RTS2 from Python-based RTS to C and later C++ based RTS2, focusing on the problems we faced during development. The internal structure of RTS2, focusing on object layering, which is used to uniformly control various devices and provides uniform reporting layer, is also discussed.

PLC-controlled cryostats for the BlackGEM and MeerLICHT detectors

NASA Astrophysics Data System (ADS)

Raskin, Gert; Morren, Johan; Pessemier, Wim; Bloemen, Steven; Klein-Wolt, Marc; Roelfsema, Ronald; Groot, Paul; Aerts, Conny

2016-08-01

BlackGEM is an array of telescopes, currently under development at the Radboud University Nijmegen and at NOVA (Netherlands Research School for Astronomy). It targets the detection of the optical counterparts of gravitational waves. The first three BlackGEM telescopes are planned to be installed in 2018 at the La Silla observatory (Chile). A single prototype telescope, named MeerLICHT, will already be commissioned early 2017 in Sutherland (South Africa) to provide an optical complement for the MeerKAT radio array. The BlackGEM array consists of, initially, a set of three robotic 65-cm wide-field telescopes. Each telescope is equipped with a single STA1600 CCD detector with 10.5k x 10.5k 9-micron pixels that covers a 2.7 square degrees field of view. The cryostats for housing these detectors are developed and built at the KU Leuven University (Belgium). The operational model of BlackGEM requires long periods of reliable hands-off operation. Therefore, we designed the cryostats for long vacuum hold time and we make use of a closed-cycle cooling system, based on Polycold PCC Joule-Thomson coolers. A single programmable logic controller (PLC) controls the cryogenic systems of several BlackGEM telescopes simultaneously, resulting in a highly reliable, cost-efficient and maintenance-friendly system. PLC-based cryostat control offers some distinct advantages, especially for a robotic facility. Apart of temperature monitoring and control, the PLC also monitors the vacuum quality, the power supply and the status of the PCC coolers (compressor power consumption and temperature, pressure in the gas lines, etc.). Furthermore, it provides an alarming system and safe and reproducible procedures for automatic cool down and warm up. The communication between PLC and higher-level software takes place via the OPC-UA protocol, offering a simple to implement, yet very powerful interface. Finally, a touch-panel display on the PLC provides the operator with a user-friendly and robust technical interface. In this contribution, we present the design of the BlackGEM cryostats and of the PLC-based control system.

Various view with fish-eye lens of STS-103 crew on aft flight deck

NASA Image and Video Library

2000-01-28

STS103-375-027 (19 - 27 December 1999).--- Astronaut Jean-Francois Clervoy, mission specialist representing the European Space Agency (ESA), controls Discovery's remote manipulator system (RMS) robot arm during operations.with the Hubble Space Telescope (HST).

Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots.

PubMed

Fagogenis, Georgios; Bergeles, Christos; Dupont, Pierre E

2016-10-01

Concentric tube robots comprise telescopic precurved elastic tubes. The robot's tip and shape are controlled via relative tube motions, i.e. tube rotations and translations. Non-linear interactions between the tubes, e.g. friction and torsion, as well as uncertainty in the physical properties of the tubes themselves, e.g. the Young's modulus, curvature, or stiffness, hinder accurate kinematic modelling. In this paper, we present a machine-learning-based methodology for kinematic modelling of concentric tube robots and in situ model adaptation. Our approach is based on Locally Weighted Projection Regression (LWPR). The model comprises an ensemble of linear models, each of which locally approximates the original complex kinematic relation. LWPR can accommodate for model deviations by adjusting the respective local models at run-time, resulting in an adaptive kinematics framework. We evaluated our approach on data gathered from a three-tube robot, and report high accuracy across the robot's configuration space.

Tricerascope: The Triple Threat Robotic Telescope of the Community College of Southern Nevada

NASA Astrophysics Data System (ADS)

Nations, H. L.; Erwin, T. D.

2005-12-01

With over 34000 students and three primary campuses, the Community College of Southern Nevada is the largest college or university in the state. It is also the largest provider of astronomy education, with a total of forty sections of introductory astronomy classes and labs in the Fall of 2005, six full time astronomy faculty, and a busy planetarium which has just been upgraded to a digital projector. Unfortunately, it is also located in the light pollution capital of the observable universe, Las Vegas, Nevada. But to counterbalance that somewhat, we do have over 300 clear, sunny days per year. This has led us to develop Tricerascope, our triple threat robotic telescope. Given the busy teaching schedules of our faculty, Tricerascope was designed to use, as much as possible, commercial, off-the-shelf technology. The primary hardware consists of a Coronado Solarmax 60 Halpha telescope with a bandpass of < 0.7 Angstroms, and a TeleVue-60 APO refractor equipped with a white-light Baader AstroSolar filter. The detectors for these telescopes are identical Phillips ToUcam Pro II webcams and the telescopes are focused using dual Technical Innovations Robo-Focus devices. The telescopes themselves are piggy-backed on an eight inch Meade LX200GPS which has an SBIG ST7 XME camera and CFW filter wheel. All of these reside in a Technical Innovations RoboDome . The overall software controlling the observatory is Astronomy Control Panel 4.1. We show details of the hardware (including an unique shutter for the LX200) and software and how they work together as well as daytime and nighttime images. We will also discuss how the observatory is being integrated into the astronomy curriculum at the college and in local secondary schools.

Running MONET and SALT with Remote Telescope Markup Language 3.0

NASA Astrophysics Data System (ADS)

Hessman, F. V.; Romero, E.

2003-05-01

Complex robotic and service observations in heterogenous networks of telescopes require a common telescopic lingua franca for the description and transport of observing requests and results. Building upon the experience gained within the Hands-On Universe (HOU) and advanced amateur communities with Remote Telescope Markup Language (RTML) Version 2.1 (http://sunra.lbl.gov/rtml), we have implemented a revised RTML syntax (Version 3.0) which is fully capable of - running the two 1.2m MONET robotic telescopes for a very inhomogeneous clientel from 3 research institutions and high school classes all over the world; - connecting MONET to the HOU telescope network; - connecting MONET as a trigger to the 11m SALT telescope; - providing all the objects needed to perform and document internet-based user support, ranging all the way from proposal submission and time-allocation to observation reports.

Lunar Limb Observatory: An Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

NASA Technical Reports Server (NTRS)

Lowman, Paul. D., Jr.

1996-01-01

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Lunar Limb Observatory: an Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

NASA Astrophysics Data System (ADS)

Lowman, Paul. D., Jr.

1996-10-01

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Hubble Space Telescope Servicing begins.

NASA Astrophysics Data System (ADS)

1993-12-01

The day's work began when astronauts Story Musgrave and Jeff Hoffman stepped out into the cargo bay at 9h41 pm CST, Saturday (4h41 am CET, Sunday). They immediately set to work replacing two gyroscope assemblies, known as the Rate Sensor Units, two associated electronics boxes, called Electronic Control Units, and eight electrical fuse plugs. The work was completed ahead of schedule, but the astronauts had trouble closing the doors of the compartment housing the gyros and took over an hour to get them shut. The astronauts also prepared equipment for the replacement of the solar arrays. "The feeling down here is one of great satisfaction for a tremendous job today" said spacecraft communicator Greg Harbaugh in mission control. "We are very proud of the work that you all did and we are very confident in the continued success of the mission. Everything is going great and tomorrow is going to be another great day". ESA astronaut Claude Nicollier played a vital role during the spacewalk moving the astronauts and their equipment around the cargo bay with the shuttle's robot arm. The Hubble Space Telescope servicing mission features more robot arm operations than any other shuttle flight. The telescope's left-hand solar array was rolled up successfully at 6h24 am CST (1h24 pm CET). The 11-tonne observatory was rotated 180 degrees on its turntable before commands were sent to retract the second array at 8h23 am CST (3h23 pm CET). The crew stopped the retraction when it appeared the system may have jammed. Mission control instructed the crew to jettison the array, a procedure that they have trained for. Tomorrow astronauts Kathy Thornton and Tom Akers will make a six-hour spacewalk to jettison the troublesome wing, store the other in the cargo bay, and install two new panels supplied by ESA. The second set of arrays feature thermal shields and a modified thermal compensation system to prevent the flexing that affected the first pair. The Hubble Space Telescope was plucked from orbit this Saturday by ESA astronaut Claude Nicollier, operating the shuttle's robot arm. The Swiss-born astronaut gripped the 11- tonne observatory with the shuttle's 15-metre long robot arm at 2h34 am CST (9h34 am CET) after a two-day chase through space as the two spacecraft flew over the South Pacific Ocean. "Endeavour has a firm handshake with Mr. Hubble's telescope" said mission commander Dick Covey. "It's quite a sight". About half an hour later Nicollier had the telescope berthed on a special turntable in the back of the Shuttle's cargo bay. Later he used the camera at the end of the arm to surveyed the telescope for any damage. As the shuttle approached the telescope the astronauts first reported that one of the twin solar arrays appeared to be bowed and twisted. ESA officials said the problem was caused by the failure in early 1992 of the tensioning system on one side of the right-hand array. The system is designed to allow the blanket-like array to expand and contract in orbit. That failure placed stress on one of the supporting bi-stem booms resulting in its bent condition. Endeavour's mission began Thursday 2 December and will end 13 December. A total of five spacewalks are planned to service the telescope.

The SONG prototype: Efficiency of a robotic telescope

NASA Astrophysics Data System (ADS)

Andersen, M. F.; Grundahl, F.; Beck, A. H.; Pallé, P.

2016-12-01

The Stellar Observations Network Group prototype telescope at the Teide Observatory has been operating in scientific mode since March 2014. The first year of observations has entirely been carried out using the high resolution echelle spectrograph. Several asteroseismic targets were selected for scientific and technical verification. A few bright subgiants and one red giant were chosen since the oscillations in these stars have large amplitudes and the periods long enough to easily be detected. These targets would also be used for evaluation of the instruments since long term observations of single targets would reveal potential problems. In this paper the performance of the first robotic SONG node is described to illustrate the efficiency and possibilities in having a robotic telescope.

A robotic reflective Schmidt telescope for Dome C

NASA Astrophysics Data System (ADS)

Strassmeier, K. G.; Andersen, M. I.; Steinbach, M.

2004-10-01

This paper lays out a wide-field robotic Schmidt telescope (RST) for the Antarctic site Dome C. The telescope is based on 80/120cm reflective Schmidt optics, built originally for a space project, and a mosaic of four 7.5k×7.5k 8-μm thinned CCDs from the PEPSI/LBT wafer run. The telescope's total field of view (FOV) would be 5o circular (minimum 3o× 3o square) with a plate scale of 0.7 arcsec per pixel. Limiting magnitude is expected to be V=21.5mag in 60 sec for a field of 9 square degrees.

The Follow-up Crisis: Optimizing Science in an Opportunity Rich Environment

NASA Astrophysics Data System (ADS)

Vestrand, T.

Rapid follow-up tasking for robotic telescopes has been dominated by a one-dimensional uncoordinated response strategy developed for gamma-ray burst studies. However, this second-grade soccer approach is increasing showing its limitations even when there are only a few events per night. And it will certainly fail when faced with the denial-of-service attack generated by the nightly flood of new transients generated by massive variability surveys like LSST. We discuss approaches for optimizing the scientific return from autonomous robotic telescopes in the high event range limit and explore the potential of a coordinated telescope ecosystem employing heterogeneous telescopes.

Research on scheduling of robotic transient survey for Antarctic Survey Telescopes (AST3)

NASA Astrophysics Data System (ADS)

Liu, Qiang; Wei, Peng; Shang, Zhao-Hui; Ma, Bin; Hu, Yi

2018-01-01

Antarctic Survey Telescopes (AST3) are designed to be fully robotic telescopes at Dome A, Antarctica, which aim for highly efficient time-domain sky surveys as well as rapid response to special transient events (e.g., gamma-ray bursts, near-Earth asteroids, supernovae, etc.). Unlike traditional observations, a well-designed real-time survey scheduler is needed in order to implement an automatic survey in a very efficient, reliable and flexible way for the unattended telescopes. We present a study of the survey strategy for AST3 and implementation of its survey scheduler, which is also useful for other survey projects.

Astronomy and space sciences studies - use of a remotely controlled robotic observatory

NASA Astrophysics Data System (ADS)

Priskitch, Ray

Trinity College in Perth, Western Australia, has designed a self-paced online astronomy and space science course in response to the Earth & Beyond strand of the State's Curriculum Framework learning environment. The course also provides senior physics students the opportunity to undertake research that contributes towards their school-based assessment. Special features of the course include use of the first remotely controlled robotic telescope in a secondary school within Australia, and direct real time links to NASA's Johnson Space Centre. The quantum leap in telescope design and control technology introduces users, especially school students, to a means of data collection and processing that hitherto was in the realm of the professional astronomer. No longer must students be, both in time and space, located at the telescope when an event is taking place. Convenience of use and the high quality of data allows students to undertake scientific investigations that were impractical or of dubious quality beforehand. The Astronomy and Space Sciences course at Trinity offers students the opportunity to explore the solar system and the universe beyond whilst also incorporating a wide range of subjects other than science per se such as mathematics, computing, geography, multimedia, religious education and art. Skills developed in this course are of practical value, such as image processing, and the context of the studies serve to illuminate and stimulate student awareness of our unique environment and its finiteness.

A project of a two meter telescope in North Africa

NASA Astrophysics Data System (ADS)

Benkhaldoun, Zouhair

2015-03-01

Site testing undertaken during the last 20 years by Moroccan researchers through international studies have shown that the Atlas mountains in Morocco has potentialities similar to those sites which host the largest telescopes in world. Given the quality of the sites and opportunities to conduct modern research, we believe that the installation of a 2m diameter telescope will open new horizons for Astronomy in Morocco and north Africa allowing our region to enter definitively into the very exclusive club of countries possessing an instrument of that size. A state of the art astrophysical observatory on any good astronomical observation site should be equipped with a modern 2m-class, robotic telescope and some smaller telescopes. Our plan should be to operate one of the most efficient robotic 2m class telescopes worldwide in order to offer optimal scientific opportunities for researchers and maintain highest standards for the education of students. Beside all categories of astronomical research fields, students will have the possibility to be educated intensively on the design, manufacturing and operating of modern state of the art computer controlled instruments. In the frame of such education and observation studies several PhD and dissertational work packages are possible. Many of the observations will be published in articles worldwide and a number of guest observers from other countries will have the possibility to take part in collaborations. This could be a starting point of an international reputation of our region in the field of modern astronomy.

TRICERASCOPE: An Update on the Triple Threat Robotic Telescope of the College of Southern Nevada

NASA Astrophysics Data System (ADS)

Nations, Harold; Erwin, T.

2009-01-01

With over 35000 students and three primary campuses, the College of Southern Nevada is the largest college or university in the state, with about one-third of the total state college enrollment. It is also the largest provider of astronomy education, with a total of over forty sections of introductory astronomy classes and labs in the Fall of 2008, six full time astronomy faculty, and a busy planetarium which was recently upgraded to a digital projector. Unfortunately, it is also located in the light pollution capital of human space, Las Vegas, Nevada. But to counterbalance that somewhat, we do have over 300 clear, sunny days per year. This led us to develop Tricerascope, our triple threat robotic telescope. Given the busy teaching schedules of our faculty, Tricerascope was designed to use, as much as possible, commercial, off-the-shelf technology. The primary hardware consists of a Coronado Solarmax 60 Halpha telescope with a bandpass of < 0.7 Angstroms, and a TeleVue-60 APO refractor equipped with a white-light Baader AstroSolar filter. The solar telescopes themselves are piggy-backed on an eight inch Meade LX200 GPS which resides in a Technical Innovations RoboDome. In the past three years we have significantly upgraded the cameras used on all three telescopes as well as the telescope control software. We will detail those upgrades here and show example daytime solar images along with a few nighttime Halpha images from the Meade SCT

The TJO-OAdM robotic observatory: OpenROCS and dome control

NASA Astrophysics Data System (ADS)

Colomé, Josep; Francisco, Xavier; Ribas, Ignasi; Casteels, Kevin; Martín, Jonatan

2010-07-01

The Telescope Joan Oró at the Montsec Astronomical Observatory (TJO - OAdM) is a small-class observatory working in completely unattended control. There are key problems to solve when a robotic control is envisaged, both on hardware and software issues. We present the OpenROCS (ROCS stands for Robotic Observatory Control System), an open source platform developed for the robotic control of the TJO - OAdM and similar astronomical observatories. It is a complex software architecture, composed of several applications for hardware control, event handling, environment monitoring, target scheduling, image reduction pipeline, etc. The code is developed in Java, C++, Python and Perl. The software infrastructure used is based on the Internet Communications Engine (Ice), an object-oriented middleware that provides object-oriented remote procedure call, grid computing, and publish/subscribe functionality. We also describe the subsystem in charge of the dome control: several hardware and software elements developed to specially protect the system at this identified single point of failure. It integrates a redundant control and a rain detector signal for alarm triggering and it responds autonomously in case communication with any of the control elements is lost (watchdog functionality). The self-developed control software suite (OpenROCS) and dome control system have proven to be highly reliable.

Massive stars and miniature robots: today's research and tomorrow's technologies

NASA Astrophysics Data System (ADS)

Taylor, William David

2013-03-01

This thesis documents the reduction of the VLT-FLAMES Tarantula Survey (VFTS) data set, whilst also describing the analysis for one of the serendipitous discoveries: the massive binary R139. This high-mass binary will provide an excellent future calibration point for stellar models, in part as it seems to defy certain expectations about its evolution. Out with the VFTS, a search for binary companions around a trio of B-type supergiants is presented. These stars are surrounded by nebulae that closely resemble the triple-ring structure associated with the poorly-understood SN1987A. Do these stars share a similar evolutionary fate? While strong evidence is found for periodic pulsations in one of the stars, there appears to be no indication of a short-period binary companion suggested in the literature. Gathering observations from a wide range of environments builds a fuller picture of massive stars, but the samples remain somewhat limited. The coming generation of extremely large telescopes will open new regions for studies like the VFTS. Fully utilising these remarkable telescopes will require many new technologies, and this thesis presents one such development project. For adaptive-optics corrected, multi-object instruments it will be necessary to position small pick-off mirrors in the telescope¿s focal plane to select the sub-fields on the sky. This could be most efficiently achieved if the mirrors were self-propelled, which has led to a miniature robot project called MAPS - the Micro Autonomous Positioning System. A number of robots have been built with a footprint of only 30 x 30mm. These wirelessly-controlled robots draw their power from the floor on which they operate and have shown the potential to be positioned to an accuracy of tens of microns. This thesis details much of the early design work and testing of the robots, and also the development of the camera imaging system used to determine the position of the robots. The MAPS project is ongoing and a number of the potential future tests, and avenues for new research, are discussed. This is a thesis that brings together an area of active astronomical research with cutting-edge technological development, highlighting how tomorrow's telescopes will be an essential tool to answer some of today's most puzzling research questions

Precision Pointing Control to and Accurate Target Estimation of a Non-Cooperative Vehicle

NASA Technical Reports Server (NTRS)

VanEepoel, John; Thienel, Julie; Sanner, Robert M.

2006-01-01

In 2004, NASA began investigating a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates in order to achieve capture by the proposed Hubble Robotic Vehicle (HRV), but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST. To generalize the situation, HST is the target vehicle and HRV is the chaser. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a control scheme. Non-cooperative in this context relates to the target vehicle no longer having the ability to maintain attitude control or transmit attitude knowledge.

The Malaysian Robotic Solar Observatory (P29)

NASA Astrophysics Data System (ADS)

Othman, M.; Asillam, M. F.; Ismail, M. K. H.

2006-11-01

Robotic observatory with small telescopes can make significant contributions to astronomy observation. They provide an encouraging environment for astronomers to focus on data analysis and research while at the same time reducing time and cost for observation. The observatory will house the primary 50cm robotic telescope in the main dome which will be used for photometry, spectroscopy and astrometry observation activities. The secondary telescope is a robotic multi-apochromatic refractor (maximum diameter: 15 cm) which will be housed in the smaller dome. This telescope set will be used for solar observation mainly in three different wavelengths simultaneously: the Continuum, H-Alpha and Calcium K-line. The observatory is also equipped with an automated weather station, cloud & rain sensor and all-sky camera to monitor the climatic condition, sense the clouds (before raining) as well as to view real time sky view above the observatory. In conjunction with the Langkawi All-Sky Camera, the observatory website will also display images from the Malaysia - Antarctica All-Sky Camera used to monitor the sky at Scott Base Antarctica. Both all-sky images can be displayed simultaneously to show the difference between the equatorial and Antarctica skies. This paper will describe the Malaysian Robotic Observatory including the systems available and method of access by other astronomers. We will also suggest possible collaboration with other observatories in this region.

TALON: the telescope alert operation network system: intelligent linking of distributed autonomous robotic telescopes

NASA Astrophysics Data System (ADS)

White, Robert R.; Wren, James; Davis, Heath R.; Galassi, Mark; Starr, Daniel; Vestrand, W. T.; Wozniak, P.

2004-09-01

The internet has brought about great change in the astronomical community, but this interconnectivity is just starting to be exploited for use in instrumentation. Utilizing the internet for communicating between distributed astronomical systems is still in its infancy, but it already shows great potential. Here we present an example of a distributed network of telescopes that performs more efficiently in synchronous operation than as individual instruments. RAPid Telescopes for Optical Response (RAPTOR) is a system of telescopes at LANL that has intelligent intercommunication, combined with wide-field optics, temporal monitoring software, and deep-field follow-up capability all working in closed-loop real-time operation. The Telescope ALert Operations Network (TALON) is a network server that allows intercommunication of alert triggers from external and internal resources and controls the distribution of these to each of the telescopes on the network. TALON is designed to grow, allowing any number of telescopes to be linked together and communicate. Coupled with an intelligent alert client at each telescope, it can analyze and respond to each distributed TALON alert based on the telescopes needs and schedule.

The Northwest Indiana Robotic Telescope

NASA Astrophysics Data System (ADS)

Slavin, Shawn D.; Rengstorf, A. W.; Aros, J. C.; Segally, W. B.

2011-01-01

The Northwest Indiana Robotic (NIRo) Telescope is a remote, automated observing facility recently built by Purdue University Calumet (PUC) at a site in Lowell, IN, approximately 30 miles from the PUC campus. The recently dedicated observatory will be used for broadband and narrowband optical observations by PUC students and faculty, as well as pre-college students through the implementation of standards-based, middle-school modules developed by PUC astronomers and education faculty. The NIRo observatory and its web portal are the central technical elements of a project to improve astronomy education at Purdue Calumet and, more broadly, to improve science education in middle schools of the surrounding region. The NIRo Telescope is a 0.5-meter (20-inch) Ritchey-Chrétien design on a Paramount ME robotic mount, featuring a seven-position filter wheel (UBVRI, Hα, Clear), Peltier (thermoelectrically) cooled CCD camera with 3056 x 3056, square, 12 μm pixels, and off-axis guiding. It provides a coma-free imaging field of 0.5 degrees square, with a plate scale of 0.6 arcseconds per pixel. The observatory has a wireless internet connection, local weather station which publishes data to an internet weather site, and a suite of CCTV security cameras on an IP-based, networked video server. Control of power to every piece of instrumentation is maintained via internet-accessible power distribution units. The telescope can be controlled on-site, or off-site in an attended fashion via an internet connection, but will be used primarily in an unattended mode of automated observation, where queued observations will be scheduled daily from a database of requests. Completed observational data from queued operation will be stored on a campus-based server, which also runs the web portal and observation database. Partial support for this work was provided by the National Science Foundation's Course, Curriculum, and Laboratory Improvement (CCLI) program under Award No. 0736592.

VizieR Online Data Catalog: RR Lyraes in NGC 6101 (Fitzgerald+, 2012)

NASA Astrophysics Data System (ADS)

Fitzgerald, M.; Criss, J.; Lukaszewicz, T.; Frew, D. J.; Catelan, M.; Woodward, S.; Danaia, L.; McKinnon, D. H.

2012-04-01

V- and I-band observations of cluster NGC 6101 were taken over 31 nights between June 2010 and April 2011 using the Merope CCD camera attached to the robotically controlled 2-metre Faulkes Telescope South at Siding Spring Observatory, NSW, Australia. (2 data files).

Truss Assembly and Welding by Intelligent Precision Jigging Robots

NASA Technical Reports Server (NTRS)

Komendera, Erik; Dorsey, John T.; Doggett, William R.; Correll, Nikolaus

2014-01-01

This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with micron accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss from stock titanium components. The calibration of the IPJR, and the difference between the predicted and the truss dimensions as-built, identified additional sources of error that should be addressed in the next generation of IPJRs in 2D and 3D.

Variable Star Observing with the Bradford Robotic Telescope

NASA Astrophysics Data System (ADS)

Kinne, Richard C. S.

2011-05-01

With the recent addition of Johnson BVRI filters on the Bradford Robotic Telescope's 24 sq. arc minute camera, this scope has become a possibility to be considered when monitoring certain stars such as LPVs. This presentation will examine the mechanics of observing with the BRT and show examples of work that has been done by the author and how that data has been reduced using VPhot.

Small and Robotic Telescopes in the Era of Massive Time-Domain Surveys

NASA Astrophysics Data System (ADS)

Bode, M. F.; Vestrand, W. T.

2012-04-01

We have entered an era in time-domain astronomy in which the detected rate of explosive transients and important ephemeral states in persistent objects threatens to overwhelm the world's supply of traditional follow-up telescopes. As new, comprehensive time-domain surveys become operational and wide-field multi-messenger observatories come on-line, that problem will become more acute. The goal of this workshop was to foster discussion about how autonomous robotic telescopes and small-aperture conventional telescopes can be employed in the most effective ways to help deal with the coming deluge of scientifically interesting follow-up opportunities. Discussion topics included the role of event brokers, automated event triage, the establishment of cooperative global telescope networks, and real-time coordination of observations at geographically diverse sites. It therefore included brief overviews of the current diverse landscape of telescopes and their interactions, and also considered planned and potential new facilities and operating models.

Towards an autonomous telescope system: the Test-Bed Telescope project

NASA Astrophysics Data System (ADS)

Racero, E.; Ocaña, F.; Ponz, D.; the TBT Consortium

2015-05-01

In the context of the Space Situational Awareness (SSA) programme of ESA, it is foreseen to deploy several large robotic telescopes in remote locations to provide surveillance and tracking services for man-made as well as natural near-Earth objects (NEOs). The present project, termed Telescope Test Bed (TBT) is being developed under ESA's General Studies and Technology Programme, and shall implement a test-bed for the validation of an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor NEO services. It is foreseen that this test-bed environment will be used to validate future prototype software systems as well as to evaluate remote monitoring and control techniques. The test-bed system will be capable to deliver astrometric and photometric data of the observed objects in near real-time. This contribution describes the current status of the project.

Calvin-Rehoboth Robotic Twin Telescopes

NASA Astrophysics Data System (ADS)

Haarsma, D. B.; Molnar, L. A.; VanBaak, D. A.

2004-12-01

The astronomy program at Calvin College, like many small colleges, is limited by poor weather and light pollution at its midwestern campus and by limited free time on the part of its astronomy faculty. Nonetheless we believe direct access to the physical universe is key to the science education both of science majors and nonmajors. Recent advances in hardware and software for modest robotic telescopes have made it possible for colleges like ours to incorporate the use of a remote bservatory into our curriculum within typical financial and time constraints. In this poster we make our first report on the installation of two robotic telescopes (one on campus and one at a remote site in New Mexico) using largely off-the-shelf components. Students learn first with the local telescope in order to understand the equipment and procedures, but obtain the majority of their data with the remote telescope. Equipment development is done first with the local telescope, and then implemented on the remote telescope (where time spent in development is difficult). We received an NSF CCLI grant and matching college funds in the summer of 2002. The local telescope was installed in the spring of 2003, and the New Mexico telescope was ready for remote operation in January 2004. Our poster will describe our equipment choices, including a few components (such as an equipment rack for the back end of the telescope) which we designed ourselves. It will also detail classroom use of the equipment in its first two semesters by students at a range of levels. A copy of the poster and many additional details of the project are available on the Calvin observatory website, http://www.calvin.edu/observatory/.

OpTIIX: An ISS-Based Testbed Paving the Roadmap Toward a Next Generation Large Aperture UV/Optical Space Telescope

NASA Technical Reports Server (NTRS)

Carpenter, Kenneth G.; Etemad, Shar; Seery, Bernard D.; Thronson, Harley; Burdick, Gary M.; Coulter, Dan; Goullioud, Renaud; Green, Joseph J.; Liu, Fengchuan; Ess, Kim;

Taking the Observatory to the Astronomer

NASA Astrophysics Data System (ADS)

Bisque, T. M.

1997-05-01

Since 1992, Software Bisque's Remote Astronomy Software has been used by the Mt. Wilson Institute to allow interactive control of a 24" telescope and digital camera via modem. Software Bisque now introduces a comparable, relatively low-cost observatory system that allows powerful, yet "user-friendly" telescope and CCD camera control via the Internet. Utilizing software developed for the Windows 95/NT operating systems, the system offers point-and-click access to comprehensive celestial databases, extremely accurate telescope pointing, rapid download of digital CCD images by one or many users and flexible image processing software for data reduction and analysis. Our presentation will describe how the power of the personal computer has been leveraged to provide professional-level tools to the amateur astronomer, and include a description of this system's software and hardware components. The system software includes TheSky Astronomy Software?, CCDSoft CCD Astronomy Software?, TPoint Telescope Pointing Analysis System? software, Orchestrate? and, optionally, the RealSky CDs. The system hardware includes the Paramount GT-1100? Robotic Telescope Mount, as well as third party CCD cameras, focusers and optical tube assemblies.

DEdicated MONitor of EXotransits and Transients (DEMONEXT): a low-cost robotic and automated telescope for followup of exoplanetary transits and other transient events

NASA Astrophysics Data System (ADS)

Villanueva, S.; Eastman, J. D.; Gaudi, B. S.; Pogge, R. W.; Stassun, K. G.; Trueblood, M.; Trueblood, P.

2016-07-01

We present the design and development of the DEdicatedMONitor of EXotransits and Transients (DEMONEXT), an automated and robotic 20 inch telescope jointly funded by The Ohio State University and Vanderbilt University. The telescope is a PlaneWave CDK20 f/6.8 Corrected Dall-Kirkham Astrograph telescope on a Mathis Instruments MI-750/1000 Fork Mount located atWiner Observatory in Sonoita, AZ. DEMONEXT has a Hedrick electronic focuser, Finger Lakes Instrumentation (FLI) CFW-3-10 filter wheel, and a 2048 x 2048 pixel FLI Proline CCD3041 camera with a pixel scale of 0.90 arc-seconds per pixel and a 30.7× 30.7 arc-minute field-of-view. The telescope's automation, controls, and scheduling are implemented in Python, including a facility to add new targets in real time for rapid follow-up of time-critical targets. DEMONEXT will be used for the confirmation and detailed investigation of newly discovered planet candidates from the Kilodegree Extremely Little Telescope (KELT) survey, exploration of the atmospheres of Hot Jupiters via transmission spectroscopy and thermal emission measurements, and monitoring of select eclipsing binary star systems as benchmarks for models of stellar evolution. DEMONEXT will enable rapid confirmation imaging of supernovae, flare stars, tidal disruption events, and other transients discovered by the All Sky Automated Survey for SuperNovae (ASAS-SN). DEMONEXT will also provide follow-up observations of single-transit planets identified by the Transiting Exoplanet Survey Satellite (TESS) mission, and to validate long-period eclipsing systems discovered by Gaia.

Eastern Anatolia Observatory (DAG): Recent developments and a prospective observing site for robotic telescopes

NASA Astrophysics Data System (ADS)

Yesilyaprak, C.; Yerli, S. K.; Keskin, O.

2016-12-01

This document (Eastern Anatolia Observatory (DAG) is the new observatory of Turkey with the optical and near-infrared largest telescope (4 m class) and its robust observing site infrastructure. This national project consists of three phases with DAG (Telescope, Enclosure, Buildings and Infrastructures), FPI (Focal Plane Instruments and Adaptive Optics) and MCP (Mirror Coating Plant) and is supported by the Ministry of Development of Turkey. The tenders of telescope and enclosure have been made and almost all the infrastructure (roads, geological and atmospherical surveys, electricity, fiber optics, cable car, water, generator, etc.) of DAG site (Erzurum/Turkey, 3,170 m altitude) have been completed. This poster is about the recent developments of DAG and about the future possible collaborations for various robotic telescopes which can be set up in DAG site.

Design and implementation of a software package to control a network of robotic observatories

NASA Astrophysics Data System (ADS)

Tuparev, G.; Nicolova, I.; Zlatanov, B.; Mihova, D.; Popova, I.; Hessman, F. V.

2006-09-01

We present a description of a reusable software package able to control a large, heterogeneous network of fully and semi-robotic observatories initially developed to run the MONET network of two 1.2 m telescopes. Special attention is given to the design of a robust, long-term observation scheduler which also allows the trading of observation time and facilities within various networks. The handling of the ``Phase I&II" project-development process, the time-accounting between complex organizational structures, and usability issues for making the package accessible not only to professional astronomers, but also to amateurs and high-school students is discussed. A simple RTML-based solution to link multiple networks is demonstrated.

Six Years of Science with the TAROT Telescope at La Silla

NASA Astrophysics Data System (ADS)

Klotz, A.; Boer, M.; Atteia, J.-L.; Gendre, B.; Le Borgne, J.-F.; Frappa, E.; Vachier, F.; Berthier, J.

2013-03-01

The TAROT telescopes are a pair of robotic autonomous observatories with identical suites of instrumentation, with one located in each hemisphere. The southern TAROT telescope, which was installed in 2006 at the La Silla Observatory, uses more than 90% of the clear night-time, and has become a very reliable and productive instrument. The primary objective of TAROT is the detection and study of the optical counter-parts of cosmic gamma-ray bursts, and many results have been obtained in this area. But several other topics, ranging from stellar physics to supernovae, have also been addressed successfully thanks to the telescope's flexibility. We present the main scientific results obtained by the TAROT robotic observatory at La Silla.

The Busot Observatory: towards a robotic autonomous telescope

NASA Astrophysics Data System (ADS)

García-Lozano, R.; Rodes, J. J.; Torrejón, J. M.; Bernabéu, G.; Berná, J. Á.

2016-12-01

We describe the Busot observatory, our project of a fully robotic autonomous telescope. This astronomical observatory, which obtained the Minor Planet Centre code MPC-J02 in 2009, includes a 14 inch MEADE LX200GPS telescope, a 2 m dome, a ST8-XME CCD camera from SBIG, with an AO-8 adaptive optics system, and a filter wheel equipped with UBVRI system. We are also implementing a spectrograph SGS ST-8 for the telescope. Currently, we are involved in long term studies of variable sources such as X-ray binaries systems, and variable stars. In this work we also present the discovery of W UMa systems and its orbital periods derived from the photometry light curve obtained at Busot Observatory.

Fleet Astronomy

NASA Astrophysics Data System (ADS)

Klebe, D. I.; Colorado College Student Astronomy Instrument Team; Pikes Peak Observatory Team

1999-12-01

The Colorado College Student Astronomy Instrument Team (CCSAIT) and the Pikes Peak Observatory (PPO) present preliminary optical and mechanical designs as well as discussion on a fleet of small research-class 0.4-0.5-meter telescopes. Each telescope is being designed to accommodate a variety of visible and near-infrared instrumentation, ranging from wide-field imaging cameras to moderate resolution spectrometers. The design of these telescopes is predicated on the use of lightweight primary mirrors, which will enable the entire optical telescope assembly (OTA) including instrumentation to come in under 50 kilograms. The lightweight OTA’s will further allow the use of inexpensive high-quality off-the-shelf robotic telescope mounts for future access and computer control of these telescopes over the Internet. The basic idea is to provide astronomers with a comprehensive arsenal of modest instrumentation at their fingertips in order to conduct a wide variety of interesting scientific research programs. Some of these research programs are discussed and input from the astronomical community is strongly encouraged. Connectivity and Internet control issues are also briefly discussed as development in this area is already underway through a collaborative effort between the PPO and the Cowan-Fouts Foundation of Woodland Park, Colorado.

Starbugs: all-singing, all-dancing fibre positioning robots

NASA Astrophysics Data System (ADS)

Gilbert, James; Goodwin, Michael; Heijmans, Jeroen; Muller, Rolf; Miziarski, Stan; Brzeski, Jurek; Waller, Lew; Saunders, Will; Bennet, Alex; Tims, Julia

2012-09-01

Starbugs are miniature piezoelectric 'walking' robots with the ability to simultaneously position many optical fibres across a telescope's focal plane. Their simple design incorporates two piezoceramic tubes to form a pair of concentric 'legs' capable of taking individual steps of a few microns, yet with the capacity to move a payload several millimetres per second. The Australian Astronomical Observatory has developed this technology to enable fast and accurate field reconfigurations without the inherent limitations of more traditional positioning techniques, such as the 'pick and place' robotic arm. We report on our recent successes in demonstrating Starbug technology, driven principally by R&D efforts for the planned MANIFEST (many instrument fibre-system) facility for the Giant Magellan Telescope. Significant performance gains have resulted from improvements to the Starbug system, including i) the use of a vacuum to attach Starbugs to the underside of a transparent field plate, ii) optimisation of the control electronics, iii) a simplified mechanical design with high sensitivity piezo actuators, and iv) the construction of a dedicated laboratory 'test rig'. A method of reliably rotating Starbugs in steps of several arcminutes has also been devised, which integrates with the pre-existing x-y movement directions and offers greater flexibility while positioning. We present measured performance data from a prototype system of 10 Starbugs under full (closed-loop) control, at field plate angles of 0-90 degrees.

OWL-Net: A global network of robotic telescopes for satellite observation

NASA Astrophysics Data System (ADS)

Park, Jang-Hyun; Yim, Hong-Suh; Choi, Young-Jun; Jo, Jung Hyun; Moon, Hong-Kyu; Park, Young-Sik; Bae, Young-Ho; Park, Sun-Youp; Roh, Dong-Goo; Cho, Sungki; Choi, Eun-Jung; Kim, Myung-Jin; Choi, Jin

2018-07-01

The OWL-Net (Optical Wide-field patroL Network) is composed of 0.5-m wide-field optical telescopes spread over the globe (Mongolia, Morocco, Israel, South Korea, and USA). All the observing stations are identical, operated in a fully robotic manner, and controlled by the headquarters located in Daejeon, Korea. The main objective of the OWL-Net is to obtain the orbital information of Korean LEO and GEO satellites using purely optical means and to maintain their orbital elements. The aperture size of the mirror is 0.5 m in the Ritchey-Chretien configuration, and its field of view is 1.1 deg on the CCD sensor. The telescope is equipped with an electrically cooled 4 K CCD camera with a 9-μm pixel size, and its pixel scale is 1 arcsec/pixel. A chopper wheel with variable speed is adopted to obtain multiple points in a single shot. Each observatory is equipped with a heavy-duty environment monitoring system for robust robotic observation. The headquarters has components for status monitoring, scheduling, network operation, orbit calculation, and database management. The test-phase operation of the whole system began in early 2017, although test runs for individual sites began in 2015. Although the OWL-Net has 7 observation modes for artificial satellites and astronomical objects, we are concentrating on a few modes for LEO satellites and calibration during the early phase. Some early results and analysis for system performance will be presented, and their implications will be discussed.

TALON - The Telescope Alert Operation Network System : intelligent linking of distributed autonomous robotic telescopes

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

White, R. R.; Wren, J.; Davis, H. R.

2004-01-01

The internet has brought about great change in the astronomical community, but this interconnectivity is just starting to be exploited for use in instrumentation. Utilizing the internet for communicating between distributed astronomical systems is still in its infancy, but it already shows great potential. Here we present an example of a distributed network of telescopes that performs more efficienfiy in synchronous operation than as individual instruments. RAPid Telescopes for Optical Response (RAPTOR) is a system of telescopes at LANL that has intelligent intercommunication, combined with wide-field optics, temporal monitoring software, and deep-field follow-up capability all working in closed-loop real-time operation.more » The Telescope ALert Operations Network (TALON) is a network server that allows intercommunication of alert triggers from external and internal resources and controls the distribution of these to each of the telescopes on the network. TALON is designed to grow, allowing any number of telescopes to be linked together and communicate. Coupled with an intelligent alert client at each telescope, it can analyze and respond to each distributed TALON alert based on the telescopes needs and schedule.« less

Electronic Still Camera image of Astronaut Claude Nicollier working with RMS

NASA Image and Video Library

1993-12-05

S61-E-006 (5 Dec 1993) --- The robot arm controlling work of Swiss scientist Claude Nicollier was photographed with an Electronic Still Camera (ESC), and down linked to ground controllers soon afterward. With the mission specialist's assistance, Endeavour's crew captured the Hubble Space Telescope (HST) on December 4, 1993. Four of the seven crew members will work in alternating pairs outside Endeavour's shirt sleeve environment to service the giant telescope. Electronic still photography is a relatively new technology which provides the means for a handheld camera to electronically capture and digitize an image with resolution approaching film quality. The electronic still camera has flown as an experiment on several other shuttle missions.

Design, motivation, and on-sky tests of an efficient fiber coupling unit for 1-meter class telescopes

NASA Astrophysics Data System (ADS)

Bottom, Michael; Muirhead, Philip S.; Swift, Jonathan J.; Zhao, Ming; Gardner, Paul; Plavchan, Peter P.; Riddle, Reed L.; Herzig, Erich; Johnson, John A.; Wright, Jason T.; McCrady, Nate; Wittenmyer, Robert A.

2014-08-01

We present the science motivation, design, and on-sky test data of a high-throughput fiber coupling unit suitable for automated 1-meter class telescopes. The optical and mechanical design of the fiber coupling is detailed and we describe a flexible controller software designed specifically for this unit. The system performance is characterized with a set of numerical simulations, and we present on-sky results that validate the performance of the controller and the expected throughput of the fiber coupling. This unit was designed specifically for the MINERVA array, a robotic observatory consisting of multiple 0.7 m telescopes linked to a single high-resolution stabilized spectrograph for the purpose of exoplanet discovery using high-cadence radial velocimetry. However, this unit could easily be used for general astronomical purposes requiring fiber coupling or precise guiding.

Observing with the Telescopi Joan Oró

NASA Astrophysics Data System (ADS)

Vilardell, F.; Colomé, J.; Sanz, J.; Gil, P.; Ribas, I.

2013-05-01

The Joan Oró Telescope (TJO) is a 0.8-m robotic telescope placed at the Montsec Astronomical Observatory (OAdM, Catalonia, Spain). In summer 2010, the TJO finished its robotization and started the scientific exploitation phase. Through internal calls for proposals, the members of the institutions involved in the project are obtaining the first scientific results. The TJO is going now one step further and is currently preparing a public call for proposals for the beginning of 2013. The procedure used to interact with the observers in this autonomous telescope will be explained. We will also describe current projects aimed at increasing the scientific return of the facility.

LCOGT: A World-Wide Network of Robotic Telescopes

NASA Astrophysics Data System (ADS)

Brown, T.

2013-05-01

Las Cumbres Observatory Global Telescope (LCOGT) is an organization dedicated to time-domain astronomy. To carry out the necessary observations in fields such as supernovae, extrasolar planets, small solar-system bodies, and pulsating stars, we have developed and are now deploying a set of robotic optical telescopes at sites around the globe. In this talk I will concentrate on the core of this network, consisting of up to 15 identical 1m telescopes deployed across multiple sites in both the northern and southern hemispheres. I will summarize the technical and performance aspect of these telescopes, including both their imaging and their anticipated spectroscopic capabilities. But I will also delve into the network organization, including communication among telescopes (to assure that observations are properly carried out), interactions among the institutions and scientists who will use the network (to optimize the scientific returns), and our funding model (which until now has relied entirely on one private donor, but will soon require funding from outside sources, if the full potential of the network is to be achieved).

University of Maryland walking robot: A design project for undergraduate students

NASA Technical Reports Server (NTRS)

Olsen, Bob; Bielec, Jim; Hartsig, Dave; Oliva, Mani; Grotheer, Phil; Hekmat, Morad; Russell, David; Tavakoli, Hossein; Young, Gary; Nave, Tom

1990-01-01

The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

The prototype cameras for trans-Neptunian automatic occultation survey

NASA Astrophysics Data System (ADS)

Wang, Shiang-Yu; Ling, Hung-Hsu; Hu, Yen-Sang; Geary, John C.; Chang, Yin-Chang; Chen, Hsin-Yo; Amato, Stephen M.; Huang, Pin-Jie; Pratlong, Jerome; Szentgyorgyi, Andrew; Lehner, Matthew; Norton, Timothy; Jorden, Paul

2016-08-01

The Transneptunian Automated Occultation Survey (TAOS II) is a three robotic telescope project to detect the stellar occultation events generated by TransNeptunian Objects (TNOs). TAOS II project aims to monitor about 10000 stars simultaneously at 20Hz to enable statistically significant event rate. The TAOS II camera is designed to cover the 1.7 degrees diameter field of view of the 1.3m telescope with 10 mosaic 4.5k×2k CMOS sensors. The new CMOS sensor (CIS 113) has a back illumination thinned structure and high sensitivity to provide similar performance to that of the back-illumination thinned CCDs. Due to the requirements of high performance and high speed, the development of the new CMOS sensor is still in progress. Before the science arrays are delivered, a prototype camera is developed to help on the commissioning of the robotic telescope system. The prototype camera uses the small format e2v CIS 107 device but with the same dewar and also the similar control electronics as the TAOS II science camera. The sensors, mounted on a single Invar plate, are cooled to the operation temperature of about 200K as the science array by a cryogenic cooler. The Invar plate is connected to the dewar body through a supporting ring with three G10 bipods. The control electronics consists of analog part and a Xilinx FPGA based digital circuit. One FPGA is needed to control and process the signal from a CMOS sensor for 20Hz region of interests (ROI) readout.

The AST3 controlling and operating software suite for automatic sky survey

NASA Astrophysics Data System (ADS)

Hu, Yi; Shang, Zhaohui; Ma, Bin; Hu, Keliang

2016-07-01

We have developed a specialized software package, called ast3suite, to achieve the remote control and automatic sky survey for AST3 (Antarctic Survey Telescope) from scratch. It includes several daemon servers and many basic commands. Each program does only one single task, and they work together to make AST3 a robotic telescope. A survey script calls basic commands to carry out automatic sky survey. Ast3suite was carefully tested in Mohe, China in 2013 and has been used at Dome, Antarctica in 2015 and 2016 with the real hardware for practical sky survey. Both test results and practical using showed that ast3suite had worked very well without any manual auxiliary as we expected.

SAURON: The Wallace Observatory Small AUtonomous Robotic Optical Nightwatcher

NASA Astrophysics Data System (ADS)

Kosiarek, M.; Mansfield, M.; Brothers, T.; Bates, H.; Aviles, R.; Brode-Roger, O.; Person, M.; Russel, M.

2017-07-01

The Small AUtonomous Robotic Optical Nightwatcher (SAURON) is an autonomous telescope consisting of an 11-inch Celestron Nexstar telescope on a SoftwareBisque Paramount ME II in a Technical Innovations ProDome located at the MIT George R. Wallace, Jr. Astrophysical Observatory. This paper describes the construction of the telescope system and its first light data on T-And0-15785, an eclipsing binary star. The out-of-eclipse R magnitude of T-And0-15785 was found to be 13.3258 ± 0.0015 R magnitude, and the magnitude changes for the primary and secondary eclipses were found to be 0.7145 ± 0.0515 and 0.6085 ± 0.0165 R magnitudes, respectively.

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

ISS-based Development of Elements and Operations for Robotic Assembly of A Space Solar Power Collector

NASA Technical Reports Server (NTRS)

Valinia, Azita; Moe, Rud; Seery, Bernard D.; Mankins, John C.

2013-01-01

We present a concept for an ISS-based optical system assembly demonstration designed to advance technologies related to future large in-space optical facilities deployment, including space solar power collectors and large-aperture astronomy telescopes. The large solar power collector problem is not unlike the large astronomical telescope problem, but at least conceptually it should be easier in principle, given the tolerances involved. We strive in this application to leverage heavily the work done on the NASA Optical Testbed Integration on ISS Experiment (OpTIIX) effort to erect a 1.5 m imaging telescope on the International Space Station (ISS). Specifically, we examine a robotic assembly sequence for constructing a large (meter diameter) slightly aspheric or spherical primary reflector, comprised of hexagonal mirror segments affixed to a lightweight rigidizing backplane structure. This approach, together with a structured robot assembler, will be shown to be scalable to the area and areal densities required for large-scale solar concentrator arrays.

A Robot or a Science Instrument?

NASA Image and Video Library

2009-10-20

Some say the science instrument on NASA Wide-field Infrared Survey Explorer mission resembles the Star Wars robot R2-D2. The instrument is enclosed in a solid-hydrogen cryostat, which cools the WISE telescope and detectors.

A survey of fiber-positioning technologies

NASA Astrophysics Data System (ADS)

Smith, Greg; Brzeski, Jurek; Miziarski, Stan; Gillingham, Peter R.; Moore, Anna; McGrath, Andrew

2004-09-01

A wide range of positioning technologies has been exploited to flexibly configure fiber ends on the focal surfaces of telescopes. The earliest instruments used manual plugging, or glued buttons on the focal plane. Later instruments have used robotic fisherman-round-the-pond probes and articulated armsto position fibres, each probe or arm operated by its own motors, or buttons on fiber ends moved by pick-and-place robotic positioners. A positioner using fiber spines incorporating individual actuators operating over limited patrol areas is currently being manufactured and a derivative proposed for future large telescopes. Other techniques, using independent agents carrying the fiber ends about the focal plane have been prototyped. We describe these various fiber positioning techniques and compare them, listing the issues associated with their implementation, and consider the factors which make each of them suitable for a given situation. Factors considered include: robot geometries; costs; inherent limits to the number of fibers; clustering of targets; serial and parallel positioning and reconfiguration times; adaptability to curved focal surfaces; the virtues of on-telescope versus off-telescope configuration of the field, and suitability for the various telescope foci. The design issues include selection of actuators and encoding systems, counterbalancing, configuration of fiber buttons and their associated grippers, interchanging field plates, and the need for fiber retractors. Finally we consider the competing technologies: fiber and reflective image slicer IFUs, multislit masks and reconfigurable slits.

Telescope networking and user support via Remote Telescope Markup Language

NASA Astrophysics Data System (ADS)

Hessman, Frederic V.; Pennypacker, Carlton R.; Romero-Colmenero, Encarni; Tuparev, Georg

2004-09-01

Remote Telescope Markup Language (RTML) is an XML-based interface/document format designed to facilitate the exchange of astronomical observing requests and results between investigators and observatories as well as within networks of observatories. While originally created to support simple imaging telescope requests (Versions 1.0-2.1), RTML Version 3.0 now supports a wide range of applications, from request preparation, exposure calculation, spectroscopy, and observation reports to remote telescope scheduling, target-of-opportunity observations and telescope network administration. The elegance of RTML is that all of this is made possible using a public XML Schema which provides a general-purpose, easily parsed, and syntax-checked medium for the exchange of astronomical and user information while not restricting or otherwise constraining the use of the information at either end. Thus, RTML can be used to connect heterogeneous systems and their users without requiring major changes in existing local resources and procedures. Projects as very different as a number of advanced amateur observatories, the global Hands-On Universe project, the MONET network (robotic imaging), the STELLA consortium (robotic spectroscopy), and the 11-m Southern African Large Telescope are now using or intending to use RTML in various forms and for various purposes.

Real-time control of the robotic lunar observatory telescope

USGS Publications Warehouse

Anderson, J.M.; Becker, K.J.; Kieffer, H.H.; Dodd, D.N.

1999-01-01

The US Geological Survey operates an automated observatory dedicated to the radiometry of the Moon with the objective of developing a multispectral, spatially resolved photometric model of the Moon to be used in the calibration of Earth-orbiting spacecraft. Interference filters are used with two imaging instruments to observe the Moon in 32 passbands from 350-2500 nm. Three computers control the telescope mount and instruments with a fourth computer acting as a master system to control all observation activities. Real-time control software has been written to operate the instrumentation and to automate the observing process. The observing software algorithms use information including the positions of objects in the sky, the phase of the Moon, and the times of evening and morning twilight to decide how to observe program objects. The observatory has been operating in a routine mode since late 1995 and is expected to continue through at least 2002 without significant modifications.

Monitoring Cepheid variables using the new BYU Observation Deck Robotic Telescopes

NASA Astrophysics Data System (ADS)

Bugg, Adam Garth; Hintz, Eric G.; Joner, Michael D.

2018-01-01

In January 2017 work was completed on the new observation deck of the Eyring Science Center on the Brigham Young University campus. This deck was designed with pedestals to currently hold up to 5 robotic telescope systems. One of the first test projects was to monitor a sample of Classical Cepheid variables to watch for changes in the light curves. Starting with a sample of stars which had previously been monitored spectroscopically using the Dominion Astrophysical Observatory 1.2-m telescope, we collected photometric data in the H-alpha/H-beta system detailed in Joner & Hintz (2015). We will present a preliminary analysis of this data and the abilities of the new deck to monitor these type of objects.

Investigation into the Potential of Investigative Projects Involving Powerful Robotic Telescopes to Inspire Interest in Science

ERIC Educational Resources Information Center

Beare, Richard

2007-01-01

The Faulkes Telescope Project and its educational aims are briefly summarised. Research to evaluate its impact in inspiring excitement and interest among students is described. The Faulkes Telescope in Hawaii was used to provide images for assessed coursework based on two of the Faulkes "education/research" projects on galaxies.…

The New Instrument Suite of the TSU/Fairborn 2m Automatic Spectroscopic Telescope

NASA Astrophysics Data System (ADS)

Muterspaugh, Matthew W.; Maxwell, T.; Williamson, M. W.; Fekel, F. C.; Ge, J.; Kelly, J.; Ghasempour, A.; Powell, S.; Zhao, B.; Varosi, F.; Schofield, S.; Liu, J.; Warner, C.; Jakeman, H.; Avner, L.; Swihart, S.; Harrison, C.; Fishler, D.

2014-01-01

Tied with the Liverpool Telescope as the world's largest fully robotic optical research telescope, Tennessee State University's (TSU) 2m Automatic Spectroscopic Telescope (AST) has recently been upgraded to improve performance and increase versatility by supporting multiple instruments. Its second-generation instrument head enables us to rapidly switch between any of up to twelve fibers optics, each of which can supply light to a different instrument. In 2013 construction was completed on a new temperature-controlled guest instrument building, and two new high resolution spectrographs were commissioned. The current set of instrumentation includes (1) the telescope's original R=30,000 echelle spectrograph (0.38--0.83 microns simultaneous), (2) a single order R=7,000 spectrograph centered at Ca H&K features, (3) a single-mode-fiber fed miniature echelle spectrograph (R=100,000; 0.48--0.62 microns simultaneous), (4) the University of Florida's EXPERT-3 spectrograph (R=100,000; 0.38--0.9 microns simultaneous; vacuum and temperature controlled) and (5) the University of Florida's FIRST spectrograph (R=70,000$; 0.8--1.35 or 1.4--1.8 microns simultaneous; vacuum and temperature controlled). Future instruments include the Externally Dispersed Interferometry (EDI) Testbed, a combination low resolution dispersed spectrograph and Fourier Transform Spectrograph. We welcome inquiries from the community in regards to observing access and/or proposals for future guest instruments.

Preliminary design study of the TMT Telescope structure system: overview

NASA Astrophysics Data System (ADS)

Usuda, Tomonori; Ezaki, Yutaka; Kawaguchi, Noboru; Nagae, Kazuhiro; Kato, Atsushi; Takaki, Junji; Hirano, Masaki; Hattori, Tomoya; Tabata, Masaki; Horiuchi, Yasushi; Saruta, Yusuke; Sofuku, Satoru; Itoh, Noboru; Oshima, Takeharu; Takanezawa, Takashi; Endo, Makoto; Inatani, Junji; Iye, Masanori; Sadjadpour, Amir; Sirota, Mark; Roberts, Scott; Stepp, Larry

2014-07-01

We present an overview of the preliminary design of the Telescope Structure System (STR) of Thirty Meter Telescope (TMT). NAOJ was given responsibility for the TMT STR in early 2012 and engaged Mitsubishi Electric Corporation (MELCO) to take over the preliminary design work. MELCO performed a comprehensive preliminary design study in 2012 and 2013 and the design successfully passed its Preliminary Design Review (PDR) in November 2013 and April 2014. Design optimizations were pursued to better meet the design requirements and improvements were made in the designs of many of the telescope subsystems as follows: 1. 6-legged Top End configuration to support secondary mirror (M2) in order to reduce deformation of the Top End and to keep the same 4% blockage of the full aperture as the previous STR design. 2. "Double Lower Tube" of the elevation (EL) structure to reduce the required stroke of the primary mirror (M1) actuators to compensate the primary mirror cell (M1 Cell) deformation caused during the EL angle change in accordance with the requirements. 3. M1 Segment Handling System (SHS) to be able to make removing and installing 10 Mirror Segment Assemblies per day safely and with ease over M1 area where access of personnel is extremely difficult. This requires semi-automatic sequence operation and a robotic Segment Lifting Fixture (SLF) designed based on the Compliance Control System, developed for controlling industrial robots, with a mechanism to enable precise control within the six degrees of freedom of position control. 4. CO2 snow cleaning system to clean M1 every few weeks that is similar to the mechanical system that has been used at Subaru Telescope. 5. Seismic isolation and restraint systems with respect to safety; the maximum acceleration allowed for M1, M2, tertiary mirror (M3), LGSF, and science instruments in 1,000 year return period earthquakes are defined in the requirements. The Seismic requirements apply to any EL angle, regardless of the operational status of Hydro Static Bearing (HSB) system and stow lock pins. In order to find a practical solution, design optimization study for seismic risk mitigation was carried out extensively, including the performing of dynamic response analyses of the STR system under the time dependent acceleration profile of seven major earthquakes. The work is now moving to the final design phase from April 2014 for two years.

The LCOGT near-Earth-object follow-up network

NASA Astrophysics Data System (ADS)

Lister, T.

2014-07-01

Las Cumbres Observatory Global Telescope (LCOGT) network is a planned homogeneous network that will eventually consist of over 35 telescopes at 6 locations in the northern and southern hemispheres [1]. This network is versatile and designed to respond rapidly to target of opportunity events and also to do long term monitoring of slowly changing astronomical phenomena. The global coverage of the network and the apertures of telescope available make the LCOGT network ideal for follow-up and characterization of a wide range of solar-system objects (e.g. asteroids, Kuiper-belt objects, comets) and in particular near-Earth objects (NEOs). There are 3 classes to the telescope resources: 2-meter aperture, 1-meter aperture and 0.4-meter aperture. We have been operating our two 2-meter telescopes since 2005 and began a specific program of NEO follow-up for the Pan-STARRS survey in October 2010. The combination of all-sky access, large aperture, rapid response, robotic operation and good site conditions allows us to provide time-critical follow-up astrometry and photometry on newly discovered objects and faint objects as they recede from the Earth, allowing the orbital arc to be extended and preventing loss of objects. These telescope resources have greatly increased as LCOGT has completed the first phase of the deployment, designated as ''Version 1.0'', with the installation, commissioning and ongoing operation of nine 1-meter telescopes. These are distributed among four sites with one 1-meter at McDonald Observatory (Texas), three telescopes at Cerro Tololo (Chile), three telescopes at SAAO (South Africa) and the final two telescope at Siding Spring Observatory (Australia). In addition to the 1-meter network, the scheduling and control system for the two 2-meter telescopes have been upgraded and unified with that of the 1-meter network to provide a coherent robotic telescopic network. The telescope network is now operating and observations are being executed remotely and robotically. I am using the LCOGT network to confirm newly detected NEO candidates produced by the major sky surveys such as Catalina Sky Survey (CSS) and Pan-STARRS (PS1) with additional targets coming from the NEOWISE satellite and the Palomar Transient Factory (PTF). Robotic observations of NEOs and other solar-system objects have been routinely carried out for several years on the 2-m and 1-m telescopes, with over 20,000 positional and magnitude measurements reported to the Minor Planet Center (MPC) in the last two years. We have developed software to automatically fetch candidates from Pan-STARRS and the MPC Confirmation Page, compute orbits and ephemerides, plan and schedule observations on the telescopes and retrieve the processed data [2]. The program is being expanded which will allow us to greatly increase the amount of survey discoveries that are followed-up, obtain accurate astrometry and provide important characterization data in the form of colors, lightcurves, rotation rates and spectra for NEOs. An increasing amount of time is being spent to obtain follow-up astrometry and photometry for radar-targeted objects in order to improve the orbits and determine the rotation periods. Priority for follow-up is now given to the fainter and most southern targets on the Confirmation Page, objects that are scheduled for Goldstone/Arecibo radar targeting and those objects which could become potential mission destinations for spacecraft. This will be extended to obtain more light curves of other NEOs which could be Near-Earth Object Human Space Flight Accessible Targets Study (NHATS) or Asteroid Retrieval Mission (ARM) targets. With the increase in time available from the LCOGT 1-meter network and commissioning of low-resolution spectrographs on the 2-meter telescopes for moving objects, this will produce a large advance in capabilities for NEO follow-up and characterization. This will produce an unprecedented network for NEO follow-up, particularly in the Southern Hemisphere where there is currently a shortage of suitable facilities. We will continue to develop our software to take advantage of the increased resources and capabilities of the LCOGT Network.

Design of an x-ray telescope optics for XEUS

NASA Astrophysics Data System (ADS)

Graue, Roland; Kampf, Dirk; Wallace, Kotska; Lumb, David; Bavdaz, Marcos; Freyberg, Michael

2017-11-01

The X-ray telescope concept for XEUS is based on an innovative high performance and light weight Silicon Pore Optics technology. The XEUS telescope is segmented into 16 radial, thermostable petals providing the rigid optical bench structure of the stand alone XRay High Precision Tandem Optics. A fully representative Form Fit Function (FFF) Model of one petal is currently under development to demonstrate the outstanding lightweight telescope capabilities with high optically effective area. Starting from the envisaged system performance the related tolerance budgets were derived. These petals are made from ceramics, i.e. CeSiC. The structural and thermal performance of the petal shall be reported. The stepwise alignment and integration procedure on petal level shall be described. The functional performance and environmental test verification plan of the Form Fit Function Model and the test set ups are described in this paper. In parallel to the running development activities the programmatic and technical issues wrt. the FM telescope MAIT with currently 1488 Tandem Optics are under investigation. Remote controlled robot supported assembly, simultaneous active alignment and verification testing and decentralised time effective integration procedures shall be illustrated.

Status And Performance Of The Virgin Islands Robotic Telescope at Etelman Observatory

NASA Astrophysics Data System (ADS)

Morris, David C.; Gendre, Bruce; Neff, James E.; Giblin, Timothy W.

2016-01-01

The Virgin Islands Robotic Telescope is an 0.5m robotic telescope located at the easternmost and southernmost optical observatory in the United States at a latitude of 18.5N and longitude of 65W. The observatory is located on the island of St Thomas in the USVI. Astronomers from the College of Charleston, the US Air Force Academy, and the University of the Virgin Islands collaborate to maintain and operate the facility. The primary scientific focus of the facility is the optical follow-up of high-energy transients though a variety of other science interests are also being pursued including follow-up of candidate extra-solar planets, rotation studies of cool stars, and near-Earth asteroid and space situational awareness studies. The facility also supports a wide-reaching education and outreach program dedicated to raising the level of STEAM engagement and enrichment in the USVI. We detail the characteristics, capabilities, and early results from the observatory. The observatory is growing its staff and science activities and potential topics for collaboration will be discussed.

First results of the Test-Bed Telescopes (TBT) project: Cebreros telescope commissioning

NASA Astrophysics Data System (ADS)

Ocaña, Francisco; Ibarra, Aitor; Racero, Elena; Montero, Ángel; Doubek, Jirí; Ruiz, Vicente

2016-07-01

The TBT project is being developed under ESA's General Studies and Technology Programme (GSTP), and shall implement a test-bed for the validation of an autonomous optical observing system in a realistic scenario within the Space Situational Awareness (SSA) programme of the European Space Agency (ESA). The goal of the project is to provide two fully robotic telescopes, which will serve as prototypes for development of a future network. The system consists of two telescopes, one in Spain and the second one in the Southern Hemisphere. The telescope is a fast astrograph with a large Field of View (FoV) of 2.5 x 2.5 square-degrees and a plate scale of 2.2 arcsec/pixel. The tube is mounted on a fast direct-drive mount moving with speed up to 20 degrees per second. The focal plane hosts a 2-port 4K x 4K back-illuminated CCD with readout speeds up to 1MHz per port. All these characteristics ensure good survey performance for transients and fast moving objects. Detection software and hardware are optimised for the detection of NEOs and objects in high Earth orbits (objects moving from 0.1-40 arcsec/second). Nominal exposures are in the range from 2 to 30 seconds, depending on the observational strategy. Part of the validation scenario involves the scheduling concept integrated in the robotic operations for both sensors. Every night it takes all the input needed and prepares a schedule following predefined rules allocating tasks for the telescopes. Telescopes are managed by RTS2 control software, that performs the real-time scheduling of the observation and manages all the devices at the observatory.1 At the end of the night the observing systems report astrometric positions and photometry of the objects detected. The first telescope was installed in Cebreros Satellite Tracking Station in mid-2015. It is currently in the commissioning phase and we present here the first results of the telescope. We evaluate the site characteristics and the performance of the TBT Cebreros telescope in the different modes and strategies. Average residuals for asteroids are under 0.5 arcsecond, while they are around 1 arcsecond for upper-MEO* and GEO† satellites. The survey depth is dimmer than magnitude 18.5 for 30-second exposures with the usual seeing around 4 arcseconds.

March of the Starbugs: Configuring Fiber-bearing Robots on the UK-Schmidt Optical Plane

NASA Astrophysics Data System (ADS)

Lorente, N. P. F.; Vuong, M.; Satorre, C.; Hong, S. E.; Shortridge, K.; Goodwin, M.; Kuehn, K.

2015-09-01

The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibers to target positions on the optical plane. This paper describes the software system for controlling and deploying the fiber-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).

Skynet Junior Scholars: Bringing Astronomy to Deaf and Hard of Hearing Youth

NASA Astrophysics Data System (ADS)

Meredith, Kate; Williamson, Kathryn; Gartner, Constance; Hoette, Vivian L.; Heatherly, Sue Ann

2016-01-01

Skynet Junior Scholars (SJS), funded by the National Science Foundation, aims to engage middle school youth from diverse audiences in investigating the universe with research quality robotic telescopes. SJS project development goals include: 1) Online access to optical and radio telescopes, data analysis tools, and professional astronomers, 2) An age-appropriate web-based interface for controlling remote telescopes, 3) Inquiry-based standards-aligned instructional modules. From an accessibility perspective, the goal of the Skynet Junior Scholars project is to facilitate independent access to the project by all youth including those with blindness or low vision and those who are Deaf or Hard of Hearing.Deaf and Hard of Hearing (DHH) students have long been an underserved population within STEM fields, including astronomy. Two main barriers include: (1) insufficient corpus of American Sign Language (ASL) for astronomy terminology, and (2) DHH education professionals who lack astronomy background. A suite of vocabulary, accessible hands-on activities, and interaction with trained professionals, are critical for enhancing the background experiences of DHH youth, as they may come to an astronomy lesson lacking the basic "incidental learning" that is often taken for granted with hearing peers (for example, from astronomy in the media).A collaboration between the Skynet Junior Scholars (SJS) project and the Wisconsin School for the Deaf is bringing astronomy to the DHH community in an accessible way for the first time. We follow a group of seven DHH youth over one semester as they interact with the SJS tools and curriculum to understand how they assimilate astronomy experiences and benefit from access to telescopes both directly (on school campus and at Yerkes Observatory) and through Skynet's robotic telescope network (optical and radio telescopes, inquiry-based modules, data analysis tools, and professional astronomers). We report on our first findings of resources and best practices for engaging DHH youth in astronomy in the future.

STS-61 crew utilizing Virtual Reality in training for HST repair mission

NASA Technical Reports Server (NTRS)

1993-01-01

Astronaut Jeffrey A. Hoffman, one of four crewmembers for STS-61 that will conduct scheduled spacewalks during the flight, wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm. Crewmembers are utilizing a new virtual reality training aid which assists in refining positioning patterns for Space Shuttle Endeavour's Remote Manipulator System (RMS) (36890); Astronaut Claude Nicollier looks at a computer display of the Shuttle's robot arm movements as Thomas D. Akers and Kathryn C. Thornton, mission specialists look on. Nicollier will be responsible for maneuvering the astronauts while they stand in a foot restraint on the end of the RMS arm (36891,36894); Hoffman wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm (35892); Nicollier looks at a computer display of the Shuttle's robot arm movements as Akers looks on (36893); While (l-r) Astron

Hubble Space Telescope

NASA Image and Video Library

2017-12-08

The Hubble Space Telescope in a picture snapped by a Servicing Mission 4 crewmember just after the Space Shuttle Atlantis captured Hubble with its robotic arm on May 13, 2009, beginning the mission to upgrade and repair the telescope. The Hubble Space Telescope is a project of international cooperation between NASA and the European Space Agency. NASA's Goddard Space Flight Center manages the telescope. The Space Telescope Science Institute conducts Hubble science operations. Goddard is responsible for HST project management, including mission and science operations, servicing missions, and all associated development activities. To learn more about the Hubble Space Telescope go here: www.nasa.gov/mission_pages/hubble/main/index.html

Precise automatic differential stellar photometry

NASA Technical Reports Server (NTRS)

Young, Andrew T.; Genet, Russell M.; Boyd, Louis J.; Borucki, William J.; Lockwood, G. Wesley

1991-01-01

The factors limiting the precision of differential stellar photometry are reviewed. Errors due to variable atmospheric extinction can be reduced to below 0.001 mag at good sites by utilizing the speed of robotic telescopes. Existing photometric systems produce aliasing errors, which are several millimagnitudes in general but may be reduced to about a millimagnitude in special circumstances. Conventional differential photometry neglects several other important effects, which are discussed in detail. If all of these are properly handled, it appears possible to do differential photometry of variable stars with an overall precision of 0.001 mag with ground based robotic telescopes.

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.

STS-109 Flight Day 3 Highlights

NASA Technical Reports Server (NTRS)

2002-01-01

This footage from the third day of the STS-109 mission to service the Hubble Space Telescope (HST) begins with the grappling of the HST by the robotic arm of the Columbia Orbiter, operated by Mission Specialist Nancy Currie. During the grappling, numerous angles deliver close-up images of the telescope which appears to be in good shape despite many years in orbit around the Earth. Following the positioning of the HST on its berthing platform in the Shuttle bay, the robotic arm is used to perform an external survey of the telescope. Some cursory details are given about different equipment which will be installed on the HST including a replacement cooling system for the Near Infrared Camera Multi-Object Spectrometer (NICMOS) and the Advanced Camera for Surveys. Following the survey, there is footage of the retraction of both of the telescope's two flexible solar arrays, which was successful. These arrays will be replaced by rigid solar arrays with decreased surface area and increased performance.

The First Year of Robotic Science with MINERVA

NASA Astrophysics Data System (ADS)

McCrady, Nate; Johnson, John A.; Wright, Jason; Wittenmyer, Robert; Eastman, Jason; Beatty, Thomas G.; Bottom, Michael; Johnson, Samson

2016-01-01

Detection of low-mass exoplanets orbiting Sun-like stars requires high cadence, long time-baseline observations that are impossible to obtain on shared large telescopes. MINERVA is a dedicated observatory for exoplanet detection that consists of four robotic 0.7-meter PlaneWave telescopes located at Whipple Observatory on Mt Hopkins, Arizona. First light science began in May 2015 with photometric monitoring of transit and microlensing events. The four telescopes can observe different targets, or provide simultaneous multi-color light curves of a single event. We will add a purpose-built, temperature-stabilized, high precision iodine cell spectrometer from Callaghan Innovation in 2016 to facilitate velocimetric search for low-mass exoplanets around nearby stars. The flexibility of the MINERVA array provides a natural avenue for educational and public outreach activities. One telescope in the array can break formation to observe targets from a queue or respond to remote operations from astronomy courses at a partner institution. MINERVA is a collaboration among Harvard U., Penn State U., U. Montana, and U. New South Wales.

The Dharma Planet Survey (DPS), a Robotic, High Cadence and High Doppler Precision Survey of Habitable Rocky Planets around Nearby Stars

NASA Astrophysics Data System (ADS)

Ge, Jian; Ma, Bo; Muterspaugh, Matthew W.; Singer, Michael; Varosi, Frank; Powell, Scott; Williamson, Michael W.; Sithajan, Sirinrat; Grieves, Nolan; Zhao, Bo; Schofield, Sidney; Liu, Jian; Cassette, Anthony; Carlson, Kevin; Klanot, Khaya; Jeram, Sarik; Barnes, Rory

2016-01-01

The Dharma Planet Survey (DPS) is to monitor ~100 nearby very bright FGKM dwarfs (most of them brighter than V=8) during 2014-2018 using the TOU optical very high resolution spectrograph (R~100,000, 380-900nm) at the 2m Automatic Spectroscopy Telescope at Fairborn Observatory initially (2014-2015) and at the dedicated 50-inch Robotic Telescope (2016-2018) on Mt. Lemmon after the telescope is installed in the fall of 2015. Operated in high vacuum (<0.01mTorr) with precisely controlled temperature (~1-2 mK), TOU has delivered ~ 1 m/s (RMS) instrument stability after the hardware upgrade in September 2015. DPS aims at reaching better than 0.5 m/s Doppler measurement precision for bright survey targets after the instrument tiny drift is carefully calibrated with Thorium-Argon and Sine reference sources. With very high RV precision and high cadence (~100 observations per target randomly spread over 450 days), a large number of rocky planets, including possible habitable ones, are expected to be detected. The survey also provides the largest single homogenous high precision RV sample of nearby stars for studying low mass planet populations and constraining various planet formation models. Early scientific results from the DPS pilot survey of 25 FGKM dwarfs will be presented.

Walking robot: A design project for undergraduate students

NASA Technical Reports Server (NTRS)

1990-01-01

The design and construction of the University of Maryland walking machine was completed during the 1989 to 1990 academic year. It was required that the machine be capable of completing a number of tasks including walking a straight line, turning to change direction, and manuevering over an obstacle such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear box and crank arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating this machine about this support. The machine can be controlled by using either a user-operated remote tether or the onboard computer for the execution of control commands. Absolute encoders are attached to all motors to provide the control computer with information regarding the status of the motors. Long and short range infrared sensors provide the computer with feedback information regarding the machine's position relative to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Global Astrophysical Telescope System - GATS

NASA Astrophysics Data System (ADS)

Polińska, M.; Kamiński, K.; Dimitrov, W.; Fagas, M.; Borczyk, W.; Kwiatkowski, T.; Baranowski, R.; Bartczak, P.; Schwarzenberg-Czerny, A.

2014-02-01

The Global Astronomical Telescope System is a project managed by the Astronomical Observatory Institute of Adam Mickiewicz University in Poznań (Poland) and it is primarily intended for stellar medium/high resolution spectroscopy. The system will be operating as a global network of robotic telescopes. The GATS consists of two telescopes: PST 1 in Poland (near Poznań) and PST 2 in the USA (Arizona). The GATS project is also intended to cooperate with the BRITE satellites and supplement their photometry with spectroscopic observations.

LCOGT Imaging Lab

NASA Astrophysics Data System (ADS)

Tufts, Joseph R.; Lobdill, Rich; Haldeman, Benjamin J.; Haynes, Rachel; Hawkins, Eric; Burleson, Ben; Jahng, David

2008-07-01

The Las Cumbres Observatory Global Telescope Network (LCOGT) is an ambitious project to build and operate, within 5 years, a worldwide robotic network of 50 0.4, 1, and 2 m telescopes sharing identical instrumentation and optimized for precision photometry of time-varying sources. The telescopes, instrumentation, and software are all developed in house with two 2 m telescopes already installed. The LCOGT Imaging Lab is responsible for assembly and characterization of the network's cameras and instrumentation. In addition to a fully equipped CNC machine shop, two electronics labs, and a future optics lab, the Imaging Lab is designed from the ground up to be a superb environment for bare detectors, precision filters, and assembled instruments. At the heart of the lab is an ISO class 5 cleanroom with full ionization. Surrounding this, the class 7 main lab houses equipment for detector characterization including QE and CTE, and equipment for measuring transmission and reflection of optics. Although the first science cameras installed, two TEC cooled e2v 42-40 deep depletion based units and two CryoTiger cooled Fairchild Imaging CCD486-BI based units, are from outside manufacturers, their 18 position filter wheels and the remainder of the network's science cameras, controllers, and instrumentation will be built in house. Currently being designed, the first generation LCOGT cameras for the network's 1 m telescopes use existing CCD486-BI devices and an in-house controller. Additionally, the controller uses digital signal processing to optimize readout noise vs. speed, and all instrumentation uses embedded microprocessors for communication over ethernet.

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

Various views of the STS-103 crew on the flight deck

NASA Image and Video Library

2000-01-26

STS103-334-002 (19-27 December 1999) ---.Astronauts Jean-Francois Clervoy (left).and Curtis L. Brown, Jr. communicate with ground controllers on Discovery's flight deck. Brown is mission commander for NASA's third servicing mission to the Hubble Space Telescope (HST) and.Clervoy is a mission specialist representing the European Space Agency (ESA). Clervoy was the prime operator of the remote manipulator system (RMS), the robotic arm on the Space Shuttle.

Concept and design of the 2.0-m NGAT: the new generation of astronomical telescopes

NASA Astrophysics Data System (ADS)

Mansfield, Anthony G.

1998-08-01

The Royal Greenwich Observatory and Liverpool John Moores University, United Kingdom, have joined in a collaboration to produce high quality, ground based robotic telescopes (2.0 to 5.0 m), for use with optical, infrared and interferometric astronomy. This venture has taken the form of a commercial company, Telescope Technologies Limited, to produce the range of Alt-azimuth telescopes. The reliability of the low cost, advanced technology, telescope design will enable remote observing over the Internet. The first two telescopes, currently under production, will see first light in La Palma and India in 1999. This paper covers the concept, design and capability range of the NGAT telescopes.

The BOOTES-5 telescope at San Pedro Martir National Astronomical Observatory, Mexico

NASA Astrophysics Data System (ADS)

Hiriart, D.; Valdez, J.; Martínez, B.; García, B.; Cordova, A.; Colorado, E.; Guisa, G.; Ochoa, J. L.; Nuñez, J. M.; Ceseña, U.; Cunniffe, R.; Murphy, D.; Lee, W.; Park, Il H.; Castro-Tirado, A. J.

2016-12-01

BOOTES-5 is the fifth robotic observatory of the international network of robotic telescopes BOOTES (Burst Observer and Optical Transient Exploring Optical System). It is located at the National Astronomical Observatory at Sierra San Pedro Martir, Baja California, Mexico. It was dedicated on November 26, 2015 and it is in the process of testing. Its main scientific objective is the observation and monitoring of the optic counterparts of gamma-ray bursts as quickly as possible once they have been detected from space or other ground-based observatories. BOOTES-5 fue nombrado Telescopio Javier Gorosabel en memoria del astrónomo español Javier Gorosabel Urkia.

The GLObal Robotic telescopes Intelligent Array for e-science (GLORIA)

NASA Astrophysics Data System (ADS)

Castro-Tirado, A. J.; Sánchez Moreno, F. M.; Pérez del Pulgar, C.; Azócar, D.; Beskin, G.; Cabello, J.; Cedazo, R.; Cuesta, L.; Cunniffe, R.; González, E.; González-Rodríguez, A.; Gorosabel, J.; Hanlon, L.; Hudec, R.; Jakubek, M.; Janeček, P.; Jelínek, M.; Lara-Gil, O.; Linttot, C.; López-Casado, M. C.; Malaspina, M.; Mankiewicz, L.; Maureira, E.; Maza, J.; Muñoz-Martínez, V. F.; Nicastro, L.; O'Boyle, E.; Palazzi, E.; Páta, P.; Pio, M. A.; Prouza, M.; Serena, F.; Serra-Ricart, M.; Simpson, R.; Sprimont, P.; Strobl, J.; Topinka, M.; Vitek, S.; Zarnecki, A. F.

2015-05-01

GLORIA, funded under the auspices of the EU FP7 program in 2012--14, is a collaborative web--2.0 project based on a network of 18 robotic telescopes, which has become the first free-access network opened to the world for public outreach and specially for e-Science projects. On-line (solar and night) observations (experiments) as well as batch-mode (night) requests are possible. Educational material, applications (such as Personal Space) and complementary software have been also produced, besides the broadcast of several astronomical events during this period. GLORIA+ will exploit the full GLORIA potential in the years to come.

The Aloha Telescope for K-12 STEM Education

NASA Astrophysics Data System (ADS)

Sowell, James R.

2015-01-01

How does one bring night-time astronomical observations into the classroom? How does a teacher - during the school day - show students the craters on the Moon, the rings of Saturn, or the four Galilean moons of Jupiter? One of the greatest drawbacks to teaching Astronomy is the lack of real-time telescopic observations during the school day, and yet this is a very exciting time for astronomical discoveries. The solution is to access a telescope in a substantially different time zone where it is still night. This facility - the Aloha Telescope - on Maui has already been established by a partnership between Georgia Tech and the Air Force Research Lab. This robotic telescope's sole purpose is for K-12 education, as it is equipped with a video-camera and is operated remotely via high-speed internet connections. This facility and its outreach program allow east-coast teachers and, in turn, students to have local daytime access to - and direct control of - the telescope. When observing the Moon, teachers and students will move the telescope wherever they wish across the highly-magnified lunar surface (~ 5 arcminute FOV). This telescope will enable night-time astronomical observations to come alive as day-time activities and will be an important tool for STEM education and activities. The use of the Aloha Telescope requires minimal training and is free after registering for a date and time.Dr. Sowell has written specific telescopic exercises and surface feature tours appropriate for K-12 and college-level users. These exercises, and other aspects of the Aloha Telescope and program, are posted on the website at http://aloha.gatech.edu

A 2.5m astronomical telescope project

NASA Astrophysics Data System (ADS)

Phaichith, Oudomsanith

2008-07-01

The paper reports a recently started project for a 2,5 meter diameter robotic telescope dedicated to astronomy and education for the University of Moscow's Sternberg Institute. As a prime contractor Sagem Defense Securite's REOSC department will take on the program design as well as the production of the optical components. The project includes the Alt-Az mount, the dome and its cooling and air stabilization system, the weather station, the high-resolution camera and realization, transport and installation on-site at the Kislovodsk solar station located in the Caucasus mountains as well as the initial training for the operators. The telescope will provide a wide field of view of 40 arcmin at the Cassegrain F/8 focus. An escapable and rotating tertiary mirror will allow to direct the light to the two Nasmyth foci and two student ports located at 90° from the Nasmyth foci. A 4k x 4k CCD camera cryogenically cooled to 140 K will be provided as a first light camera. All will be delivered by end 2009. Remotely controlled via the internet, the telescope will allow Russia to train doctors in astronomy, participate in international research projects and draw up the future specifications of a larger and more advanced telescope.

Monitoring non-periodic comet C/2011 L4 PANSTARRS using Joan Oró 0.8 m robotic telescope at OAdM

NASA Astrophysics Data System (ADS)

Trigo-Rodríguez, J. M.; Rodríguez, D.; Lacruz, J.; Sánchez, A.

2013-09-01

Comet C/2011 L4 PANSTARRS was discovered in June 2011 by R. Wainscoat and D. Tholen using the Pan-STARRS telescope located near the summit of Haleakala, on the island of Maui in Hawaii (USA) [1]. Once its orbit was computed it was noticed its non-periodic nature and the favorable geometry during its approach to perihelion in March 2013. It first became visible to the naked eye from the Southern hemisphere, and later on it started to be seen during mid-March from the Northern one. Due to the limited observational period in right conditions we introduce here some observations obtained taken from robotic 0.8 m Telescope Joan Oró (JO) from the Observatori Astronòmic del Montsec (OAdM: www.oadm.cat) and other Spanish observatories.

Space Shuttle Projects

NASA Image and Video Library

2002-03-08

After five days of service and upgrade work on the Hubble Space Telescope (HST), the STS-109 crew photographed the giant telescope in the shuttle's cargo bay. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where 4 of the 7-member crew performed 5 space walks completing system upgrades to the HST. Included in those upgrades were: The replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. Launched March 1, 2002, the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

n/a

NASA Image and Video Library

2002-03-09

After five days of service and upgrade work on the Hubble Space Telescope (HST), the STS-109 crew photographed the giant telescope returning to its normal routine. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where 4 of the 7-member crew performed 5 space walks completing system upgrades to the HST. Included in those upgrades were: The replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near- Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. Launched March 1, 2002, the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

The Etelman Observatory and the Virgin Islands Robotic Telescope: 2017 Milestone Achievements and Determined Resilience in the USVI

NASA Astrophysics Data System (ADS)

Morris, David C.; Gendre, Bruce; Orange, N. Brice; Cucchiara, Antonino; Giblin, Timothy W.; Klotz, Alain; Thierry, Pierre

2018-01-01

The Virgin Islands Robotic Telescope (VIRT) is an 0.5m robotic telescope located at the easternmost and southernmost optical observatory in the United States at a latitude of 18.5N and longitude of 65W. The observatory is located on the island of St Thomas in the United States Virgin Islands (USVI). Astronomers from the College of Charleston, the US Air Force Academy and the University of the Virgin Islands (UVI) collaborate to maintain and operate the facility. Science goals of the facility include optical follow-up of high-energy transients, extra-solar planet observations, and near-Earth asteroid searches. The facility also supports a wide-reaching education and outreach program dedicated to raising the level of STEM engagement and enrichment in the USVI and is a primary research facility for students in UVI's new Physics Degree with a Concentration in Astronomy. The VIRT has begun reacting autonomously to the gamma-ray coordinates network (GCN) alerts in 2017 and, despite the challenges presented to the Caribbean region by hurricanes Irma and Maria, was a participant in the follow-up campaign of GW170817, the first source simultaneously detected in gravitational waves and electromagnetic waves. We detail the robotization and automation of the VIRT, provide an update on its characteristics and capabilities and discuss recent science results from the observatory as well as ongoing progress in the recovery from damage caused by hurricanes Irma and Maria.

Liverpool Telescope classification of ATLAS16bdg as a Type Ia supernova near maximum light

NASA Astrophysics Data System (ADS)

Mundell, C. G.; Smith, R. J.; Childress, M. J.

2016-06-01

On 2016 June 15 at approximately 21:03 UT, we performed multicolour optical imaging, spectroscopy and polarimetry with the 2-m robotic Liverpool Telescope IO:O camera of galaxy NGC4708 in which a bright optical transient was reported by Tonry et al. ATel #9151 (ATLAS16bdg).

Pro-Am Collaborations with research grade robotic instruments and their contribution to outreach

NASA Astrophysics Data System (ADS)

Howes, N.

2014-04-01

Robotic telescopes in both the commercial sector and outreach area have increasingly provided both professional and amateur astronomers with high quality data. Projects like the Faulkes Telescope, which is an educational and research arm of the Las Cumbres Observatory Global Telescope Network (LCOGTN) with their network of 1 and 2-metre robotic telescopes, have been directly involved in support for missions such as the European Space Agency Rosetta and Gaia missions, as well as involvement in a variety of NASA Comet missions such as the EPOXI/Comet 103P encounter. These telescope networks are unique in that they provide school students and high end amateur astronomers, with access to research grade instrumentation and equipment which may not have been affordable to them in many instances. With social media collaboration and dedicated websites, increasingly bridging the gap between the professional and amateur community, more and more amateurs are working as collaborators with scientists in not only providing data, but also in data reduction. Amateur astronomers have increasingly also been working with schools suggesting projects which have provided valuable scientific input to professional astronomers, whilst also giving young scientists in secondary education, an opportunity to work with professional instrumentation and methods, albeit at an entry level. We aim to demonstrate the long term value of these collaborations, and propose better working methodologies to help the professional community get more from amateur input. We will cite some examples of research paper collaborations, and scientifically valuable data sharing between professional and amateur astronomers, • Observations and results from the global campaign on Comet C/2007 Q3; Ref.[1] • Observations of the fragmentation of Comet 168P; Ref.[2] • Observations relating to the evolution of Comet C/2012 S1; Ref.[3

A Modular Orbital Demonstration of an Evolvable Space Telescope (MODEST)

NASA Astrophysics Data System (ADS)

Conti, Alberto; Arenberg, Jonathan; Baldauf, Brian

2017-01-01

The “Search for Life” (direct imaging of earth-like planets) will require extremely stable telescopes with apertures in the 10 m to 20 m range. Such apertures are larger than what can be delivered to space using current or planned future launch vehicles. Building and assembling large telescopes in space is therefore likely to require not only multiple launches but importantly assembly in spce. As a result, space-based telescopes with large apertures will require major changes to our conventional telescope design and architecture.Here we report on the concept for the Modular Orbital Demonstration of an Evolvable Space Telescope (MODEST) to demonstrates the on-orbit robotic and/or astronaut assembly of an optical telescope in space. MODEST is a proposed International Space Station (ISS demonstration that will make use of the standard Express Logistics Carriers (ELCs) and can mounted to one of a variety of ISS pallets.MODEST will provides significant risk reduction for the next generation of space observatories, and demonstrates the technology needed to assemble a six-mirror phased telescope. Key modest features include the use of an active primary optical surface with wavefront feedback control to allow on-orbit optimization, and the precise surface control to meet optical system wavefront and stability requirements.MODEST will also be used to evaluate advances in lightweight mirror and metering structure materials such as SiC or Carbon Fiber Reinforced Polymer (CFRP) that have excellent mechanical and thermal properties, e.g. high stiffness, high modulus, high thermal conductivity, and low thermal expansion. Mirrors built from these materials can be rapidly replicated in a highly cost effective manner, making them an excellent candidate for a low cost, high performance Optical Telescope Assembly paving the way for enabling affordable solutions for the next generation of large aperture space-based telescope.MODEST post-assembly value includes space, ground, and environmental studies, a testbed for new instruments, and a tool for student’s exploration of space.

A Research on the Primary Mirror Manipulator of Large Segmented-mirror Telescope

NASA Astrophysics Data System (ADS)

Zuo, H.

2012-09-01

Since Galileo firstly used the telescope to observe the sky 400 years ago, the aperture of the telescope has become larger and larger to observe the deeper universe, and the segmented-mirror telescope is becoming more and more popular with increasing aperture. In the early 21st century, a series of segmented-mirror telescopes have been constructed including the Large Sky Area Multi-object Fiber Spectroscopic Telescope (LAMOST) of China. LAMOST is a meridian reflecting Schmidt telescope, and the dimension of the primary mirror is about 6.7 m× 6 m, which is composed of 37 hexagonal sub-mirrors. However, a problem about the mirror installation appears with the increasing aperture. If there are hundreds of sub-mirrors in the telescope, it is a challenging job to mount and dismount them to the truss. This problem is discussed in this paper and a manipulator for the primary mirror of LAMOST is designed to perform the mount and dismount work. In chapter 1, all the segmented-mirror telescopes in the world are introduced and how the sub-mirrors of these telescopes are installed has been investigated. After comparing with the serial and the parallel robot, a serial robot manipulator proposal, which has several redundant degrees of freedom (DOFs), has been chosen from a series of design proposals. In chapter 2, the theoretical analysis has been carried out on the basis of the design proposal, which includes the forward kinematics and the inverse kinematics. Firstly the D-H coordinate is built according to the structure of the manipulator, so it is possible to obtain the end-effector position and orientation from the individual joint motion thanks to the forward kinematics. Because of the redundant DOFs of the manipulator, the inverse kinematics solution can be a very trick task, and the result may not be only, therefore a kind of simulation is carried out to get the numerical solution using ADAMS (Automatic Dynamic Analysis of Mechanical System). In the dynamics analysis the Lagrange formulation is introduced, and the dynamic equations of the manipulator have been obtained by using the Lagrange method. Since the manipulator is a serious coupling system, the dynamic curve of the key joints is plotted by using the ADAMS software. According to the theoretical analysis, the manipulator for the primary mirror of LAMOST is designed and fabricated. The whole manipulator consists of three parts. The first part is the mechanical arm which is used to realize the high speed and the long distance location, and it is rebuilt from a small truck crane; The second part is a serial mechanical hand which is used to realize the low speed and the short distance location. It has six DOFs including the pitch, the rotate about the vertical axis, the elevation along the vertical axis, and two horizontal translations. Subsequently the structure is analyzed in the ANSYS software to confirm that the strength is enough and the displacement is in the tolerance; The third part is a mechanical wrist, in which part a hydraulic rod is used to keep the bottom of the mechanical hand horizontal. In chapter 6, the control characteristics of the whole manipulator are analyzed. Furthermore, the control method and flowchart are proposed. Based on this method the control device was selected. In the end of this paper, the main work and the results of this project are summarized. Further research is prospected and it provides a reference for the future large telescope projects.

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.

Verification of Commercial Motor Performance for WEAVE at the William Herschel Telescope

NASA Astrophysics Data System (ADS)

Gilbert, J.; Dalton, G.; Lewis, I.

2016-10-01

WEAVE is a 1000-fiber multi-object spectroscopic facility for the 4.2 m William Herschel Telescope. It will feature a double-headed pick-and-place fiber positioning robot comprising commercially available robotic axes. This paper presents results on the performance of these axes, obtained by testing a prototype system in the laboratory. Positioning accuracy is found to be better than the manufacturer's published values for the tested cases, indicating that the requirement for a maximum positioning error of 8.0 microns is achievable. Field reconfiguration times well within the planned 60 minute observation window are shown to be likely when individual axis movements are combined in an efficient way.

RAPTOR: Closed-Loop monitoring of the night sky and the earliest optical detection of GRB 021211

NASA Astrophysics Data System (ADS)

Vestrand, W. T.; Borozdin, K.; Casperson, D. J.; Fenimore, E.; Galassi, M.; McGowan, K.; Starr, D.; White, R. R.; Wozniak, P.; Wren, J.

2004-10-01

We discuss the RAPTOR (Rapid Telescopes for Optical Response) sky monitoring system at Los Alamos National Laboratory. RAPTOR is a fully autonomous robotic system that is designed to identify and make follow-up observations of optical transients with durations as short as one minute. The RAPTOR design is based on Biomimicry of Human Vision. The sky monitor is composed of two identical arrays of telescopes, separated by 38 kilometers, which stereoscopically monitor a field of about 1300 square-degrees for transients. Both monitoring arrays are carried on rapidly slewing mounts and are composed of an ensemble of wide-field telescopes clustered around a more powerful narrow-field telescope called the ``fovea'' telescope. All telescopes are coupled to real-time analysis pipelines that identify candidate transients and relay the information to a central decision unit that filters the candidates to find real celestial transients and command a response. When a celestial transient is found, the system can point the fovea telescopes to any position on the sky within five seconds and begin follow-up observations. RAPTOR also responds to Gamma Ray Burst (GRB) alerts generated by GRB monitoring spacecraft. Here we present RAPTOR observations of GRB 021211 that constitute the earliest detection of optical emission from that event and are the second fastest achieved for any GRB. The detection of bright optical emission from GRB021211, a burst with modest gamma-ray fluence, indicates that prompt optical emission, detectable with small robotic telescopes, is more common than previously thought. Further, the very fast decline of the optical afterglow from GRB 021211 suggests that some so-called ``optically dark'' GRBs were not detected only because of the slow response of the follow-up telescopes.

MS Currie at RMS controls on aft flight deck

NASA Image and Video Library

2002-03-07

STS109-E-5685 (7 March 2002) --- Astronaut Nancy J. Currie, mission specialist, works the controls for Columbia's Remote Manipulator System (RMS) on the crew cabin's aft flight deck. On a week with one lengthy space walk per day, Currie has had her hands full with RMS duties to support the space walks of four crewmates. Astronauts James H. Newman and Michael J. Massimino had just begin EVA-4, during which the duo required the services of Currie to control the robotic arm to maneuver them around the various workstations on the Hubble Space Telescope (HST). The image was recorded with a digital still camera.

Recent testing of a micro autonomous positioning system for multi-object instrumentation

NASA Astrophysics Data System (ADS)

Cochrane, W. A.; Atkinson, D. C.; Bailie, T. E. C.; Dickson, C.; Lim, T.; Luo, X.; Montgomery, D. M.; Schnetler, H.; Taylor, W. D.; Wilson, B.

2012-09-01

A multiple pick off mirror positioning sub-system has been developed as a solution for the deployment of mirrors within multi-object instrumentation such as the EAGLE instrument in the European Extremely Large Telescope (E-ELT). The positioning sub-system is a two wheeled differential steered friction drive robot with a footprint of approximately 20 x 20 mm. Controlled by RF communications there are two versions of the robot that exist. One is powered by a single cell lithium ion battery and the other utilises a power floor system. The robots use two brushless DC motors with 125:1 planetary gear heads for positioning in the coarse drive stages. A unique power floor allows the robots to be positioned at any location in any orientation on the focal plane. The design, linear repeatability tests, metrology and power continuity of the robot will be evaluated and presented in this paper. To gather photons from the objects of interest it is important to position POMs within a sphere of confusion of less than 10 μm, with an angular alignment better than 1 mrad. The robots potential of meeting these requirements will be described through the open-loop repeatability tests conducted with a Faro laser beam tracker. Tests have involved sending the robot step commands and automatically taking continuous measurements every three seconds. Currently the robot is capable of repeatedly travelling 233 mm within 0.307 mm at 5 mm/s. An analysis of the power floors reliability through the continuous monitoring of the voltage across the tracks with a Pico logger will also be presented.

STS-61 crew utilizing Virtual Reality in training for HST repair mission

NASA Image and Video Library

1993-06-11

Astronaut Jeffrey A. Hoffman, one of four crewmembers for STS-61 that will conduct scheduled spacewalks during the flight, wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm. Crewmembers are utilizing a new virtual reality training aid which assists in refining positioning patterns for Space Shuttle Endeavour's Remote Manipulator System (RMS) (36890); Astronaut Claude Nicollier looks at a computer display of the Shuttle's robot arm movements as Thomas D. Akers and Kathryn C. Thornton, mission specialists look on. Nicollier will be responsible for maneuvering the astronauts while they stand in a foot restraint on the end of the RMS arm (36891,36894); Hoffman wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm (35892); Nicollier looks at a computer display of the Shuttle's robot arm movements as Akers looks on (36893); While (l-r) Astronauts Kenneth Bowersox, Kathryn Thornton, Richard O. Covey and Thomas D. Akers watch, Nicollier moves the Robot arm to desired locations in the Shuttle's payload bay using the Virtual Reality program (36895); Bowersox takes his turn maneuvering the RMS while mission specialist Hoffman, wearing the Virtual Reality helmet, follows his own progress on the end of the robot arm. Crewmembers participating during the training session are (l-r) Astronauts Akers, Hoffman, Bowersox, Nicollier, Covey, and Thornton. In the background, David Homan, an engineer in the JSC Engineering Directorate's Automation and Robotics Division, looks on (36896).

MINERVA: Small Telescopes, Small Planets

NASA Astrophysics Data System (ADS)

Wright, Jason; Johnson, J. A.; McCrady, N.; Swift, J.; Muirhead, P. S.; Zhao, M.; Plavchan, P.; Bottom, M.; Wittenmyer, R. A.

2014-01-01

MINERVA is four, dedicated, robotic 0.7-m telescopes at Mt. Hopkins that will use fiber optic cables to simultaneously feed a stable spectrograph to perform an intense campaign of precise velocimetry on the 80 brightest, nearest, Sun-like stars. Our strategy is to overcome astrophysical noise from stars though at-least-nightly observation, and to overcome instrumental noise limitations by combining temperature and pressure stability with an iodine calibration cell. The first telescope is being commissioned at Caltech, and site preparation at Mt. Hopkins is underway. The telescopes will also be outfitted with cameras for stellar photometric work and education and public outreach efforts.

A Test-Bed Configuration: Toward an Autonomous System

NASA Astrophysics Data System (ADS)

Ocaña, F.; Castillo, M.; Uranga, E.; Ponz, J. D.; TBT Consortium

2015-09-01

In the context of the Space Situational Awareness (SSA) program of ESA, it is foreseen to deploy several large robotic telescopes in remote locations to provide surveillance and tracking services for man-made as well as natural near-Earth objects (NEOs). The present project, termed Telescope Test Bed (TBT) is being developed under ESA's General Studies and Technology Programme, and shall implement a test-bed for the validation of an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor NEO services. In order to fulfill all the security requirements for the TBT project, the use of a autonomous emergency system (AES) is foreseen to monitor the control system. The AES will monitor remotely the health of the observing system and the internal and external environment. It will incorporate both autonomous and interactive actuators to force the protection of the system (i.e., emergency dome close out).

Automated Blazar Light Curves Using Machine Learning

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

Johnson, Spencer James

Every night in a remote clearing called Fenton Hill high in the Jemez Mountains of central New Mexico, a bank of robotically controlled telescopes tilt their lenses to the sky for another round of observation through digital imaging. Los Alamos National Laboratory’s Thinking Telescopes project is watching for celestial transients including high-power cosmic flashes called, and like all science, it can be messy work. To keep the project clicking along, Los Alamos scientists routinely install equipment upgrades, maintain the site, and refine the sophisticated machinelearning computer programs that process those images and extract useful data from them. Each week themore » system amasses 100,000 digital images of the heavens, some of which are compromised by clouds, wind gusts, focus problems, and so on. For a graduate student at the Lab taking a year’s break between master’s and Ph.D. studies, working with state-of-the-art autonomous telescopes that can make fundamental discoveries feels light years beyond the classroom.« less

Operation of AST3 telescope and site testing at Dome A, Antarctica

NASA Astrophysics Data System (ADS)

Shang, Zhaohui; Hu, Yi; Ma, Bin; Hu, Keliang; Ashley, Michael C. B.; Wang, Lifan; Yuan, Xiangyan

2016-07-01

We have successfully operated the AST3 telescope remotely as well as robotically for time-domain sky survey in 2015 and 2016. We have set up a real-time system to support the operation of the unattended telescope, monitoring the status of all instruments as well as the weather conditions. The weather tower also provides valuable information of the site at the highest plateau in Antarctica, demonstrating the extremely stable atmosphere above the ground and implying excellent seeing at Dome A.

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Queen, Steven Z.; VanEepoel, John M.; Sanner, Robert M.

2005-01-01

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a non-linear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft.

Software development for a gamma-ray burst rapid-response observatory in the US Virgin Islands.

NASA Astrophysics Data System (ADS)

Davis, K. A.; Giblin, T. W.; Neff, J. E.; Hakkila, J.; Hartmann, D.

2004-12-01

The site is situated near the crest of Crown Mountain on the island of St. Thomas in the US Virgin Islands. The observing site is strategically located 65 W longitude, placing it as the most eastern GRB-dedicated observing site in the western hemisphere. The observatory has a 0.5 m robotic telescope and a Marconi 4240 2048 by 2048 CCD with BVRI filters. The field of view is identical to that of the XRT onboard Swift, 19 by 19 arc minutes. The telescope is operated through the Talon telescope control software. The observatory is notified of a burst trigger through the GRB Coordinates Network (GCN). This GCN notification is received through a socket connection to the control computer on site. A Perl script passes this information to the Talon software, which automatically interrupts concurrent observations and inserts a new GRB observing schedule. Once the observations are made the resulting images are then analyzed in IRAF. A source extraction is necessary to identify known sources and the optical transient. The system is being calibrated for automatic GRB response and is expected to be ready to follow up Swift observations. This work has been supported by NSF and NASA-EPSCoR.

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Queen, Steven Z.; VanEepoel, John M.; Sanner, Robert M.

2005-01-01

During the Hubble Robotic Servicing Mission, the Hubble Space Telescope (HST) attitude and rates are necessary to achieve the capture of HST by the Hubble Robotic Vehicle (HRV). The attitude and rates must be determined without the HST gyros or HST attitude estimates. The HRV will be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is based on more traditional Extended Kalman filter techniques. Simulation test results for both methods are given.

Structural Feasibility Analysis of a Robotically Assembled Very Large Aperture Optical Space Telescope

NASA Technical Reports Server (NTRS)

Wilkie, William Keats; Williams, R. Brett; Agnes, Gregory S.; Wilcox, Brian H.

2007-01-01

This paper presents a feasibility study of robotically constructing a very large aperture optical space telescope on-orbit. Since the largest engineering challenges are likely to reside in the design and assembly of the 150-m diameter primary reflector, this preliminary study focuses on this component. The same technology developed for construction of the primary would then be readily used for the smaller optical structures (secondary, tertiary, etc.). A reasonable set of ground and on-orbit loading scenarios are compiled from the literature and used to define the structural performance requirements and size the primary reflector. A surface precision analysis shows that active adjustment of the primary structure is required in order to meet stringent optical surface requirements. Two potential actuation strategies are discussed along with potential actuation devices at the current state of the art. The finding of this research effort indicate that successful technology development combined with further analysis will likely enable such a telescope to be built in the future.

Space astronomy for the mid-21st century: Robotically maintained space telescopes

NASA Astrophysics Data System (ADS)

Schartel, N.

2012-04-01

The historical development of ground based astronomical telescopes leads us to expect that space-based astronomical telescopes will need to be operational for many decades. The exchange of scientific instruments in space will be a prerequisite for the long lasting scientific success of such missions. Operationally, the possibility to repair or replace key spacecraft components in space will be mandatory. We argue that these requirements can be fulfilled with robotic missions and see the development of the required engineering as the main challenge. Ground based operations, scientifically and technically, will require a low operational budget of the running costs. These can be achieved through enhanced autonomy of the spacecraft and mission independent concepts for the support of the software. This concept can be applied to areas where the mirror capabilities do not constrain the lifetime of the mission. Online material is available at the CDS via http://cdsarc.u-strasbg.fr/cgi-bin/qcat?J/AN/333/209

Goals and strategies in the global control design of the OAJ Robotic Observatory

NASA Astrophysics Data System (ADS)

Yanes-Díaz, A.; Rueda-Teruel, S.; Antón, J. L.; Rueda-Teruel, F.; Moles, M.; Cenarro, A. J.; Marín-Franch, A.; Ederoclite, A.; Gruel, N.; Varela, J.; Cristóbal-Hornillos, D.; Chueca, S.; Díaz-Martín, M. C.; Guillén, L.; Luis-Simoes, R.; Maícas, N.; Lamadrid, J. L.; López-Sainz, A.; Hernández-Fuertes, J.; Valdivielso, L.; Mendes de Oliveira, C.; Penteado, P.; Schoenell, W.; Kanaan, A.

2012-09-01

There are many ways to solve the challenging problem of making a high performance robotic observatory from scratch. The Observatorio Astrofísico de Javalambre (OAJ) is a new astronomical facility located in the Sierra de Javalambre (Teruel, Spain) whose primary role will be to conduct all-sky astronomical surveys. The OAJ control system has been designed from a global point of view including astronomical subsystems as well as infrastructures and other facilities. Three main factors have been considered in the design of a global control system for the robotic OAJ: quality, reliability and efficiency. We propose CIA (Control Integrated Architecture) design and OEE (Overall Equipment Effectiveness) as a key performance indicator in order to improve operation processes, minimizing resources and obtaining high cost reduction whilst maintaining quality requirements. The OAJ subsystems considered for the control integrated architecture are the following: two wide-field telescopes and their instrumentation, active optics subsystems, facilities for sky quality monitoring (seeing, extinction, sky background, sky brightness, cloud distribution, meteorological station), domes and several infrastructure facilities such as water supply, glycol water, water treatment plant, air conditioning, compressed air, LN2 plant, illumination, surveillance, access control, fire suppression, electrical generators, electrical distribution, electrical consumption, communication network, Uninterruptible Power Supply and two main control rooms, one at the OAJ and the other remotely located in Teruel, 40km from the observatory, connected through a microwave radio-link. This paper presents the OAJ strategy in control design to achieve maximum quality efficiency for the observatory processes and operations, giving practical examples of our approach.

The Solaris-Panoptes Global Network of Robotic Telescopes and the Borowiec Satellite Laser Ranging System for SST: A Progress Report

NASA Astrophysics Data System (ADS)

Konacki, M.; Lejba, P.; Sybilski, P.; Pawłaszek, R.; Kozłowski, S.; Suchodolski, T.; Słonina, M.; Litwicki, M.; Sybilska, A.; Rogowska, B.; Kolb, U.; Burwitz, V.; Baader, J.; Groot, P.; Bloemen, S.; Ratajczak, M.; Hełminiak, K.; Borek, R.; Chodosiewicz, P.; Chimicz, A.

We present an update on the preparation of our assets that consists of a robotic network of eight optical telescopes and a laser ranging station for regular services in the SST domain. We report the development of new optical assets that include a double telescope system, Panoptes-1AB, and a new astrograph on our Solaris-3 telescope at the Siding Spring Observatory, Australia. Progress in the software development necessary for smooth SST operation includes a web based portal and an XML Azure Queue scheduling for the network giving easy access to our sensors. Astrometry24.net our new prototype cloud service for fast astrometry, streak detection and measurement with precision and performance results is also described. In the laser domain, for more than a year, Space Research Centre Borowiec laser station has regularly tracked space debris cooperative and uncooperative targets. The efforts of the stations’ staff have been focused on the tracking of typical rocket bodies from the LEO regime. Additionally, a second independent laser system fully dedicated to SST activities is under development. It will allow for an increased pace of operation of our consortium in the global SST laser domain.

Real-time condition assessment of RAPTOR telescope systems

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

Stull, Chris; Taylor, Stuart; Wren, James

2010-11-30

The RAPid Telescopes for Optical Response (RAPTOR) observatory network consists of several robotic astronomical telescopes primarily designed to search for astrophysical transients called a gamma-ray bursts (GRBs). Although intrinsically bright, GRBs are difficult to detect because of their short duration. Typically, they are first observed by satellites that then relay the coordinates of the GRB to a ground station which, in turn, distributes the coordinates over the internet so that ground based observers can perform follow-up observations. Typically the ground based observations begin after the GRB has ended and only residual emiSSion (the 'afterglow') is left. However, if the satellitemore » relays the GRB coordinates quickly enough, a 'fast' robotic telescope on the ground may be able to catch the GRB in progress. The RAPTOR telescope system is one of only a few in the world to have accomplished this feat. In order to achieve these results, the RAPTOR telescopes must operate autonomously at a high duty-cycle and in peak operating condition. Currently the telescopes are maintained in an ad hoc manner, often in a run-to-failure mode. The RAPTOR project could benefit greatly from a structural health monitoring (SHM) system, especially as more complex units are added to the suite of telescopes. This paper will summarize preliminary results from an SHM study performed on one of the RAPTOR telescopes. Damage scenarios that are of concern and that have been previously observed are first summarized. Then a specific study of damage to the telescope drive mechanism is presented where the data acquisition system is first described. Next, damage detection algorithms are developed with LANL's new publically available software SHMTools and the results of this process are discussed in detail. The paper will conclude with a summary of future planned refinemenls of the RAPTOR SHM system.« less

Using the ISS as a Testbed to Prepare for the Next Generation of Space-Based Telescopes

NASA Technical Reports Server (NTRS)

Ess, Kim; Thronson, Harley; Boyles, Mark; Sparks, William; Postman, Marc; Carpenter, Kenneth

2012-01-01

The ISS provides a unique opportunity to develop the technologies and operational capabilities necessary to assemble future large space telescopes that may be used to investigate planetary systems around neighboring stars. Assembling telescopes in space is a paradigm-shifting approach to space astronomy. Using the ISS as a testbed will reduce the technical risks of implementing this major scientific facility, such as laser metrology and wavefront sensing and control (WFSC). The Optical Testbed and Integration on ISS eXperiment (OpTIIX) will demonstrate the robotic assembly of major components, including the primary and secondary mirrors, to mechanical tolerances using existing ISS infrastructure, and the alignment of the optical elements to a diffraction-limited optical system in space. Assembling the optical system and removing and replacing components via existing ISS capabilities, such as the Special Purpose Dexterous Manipulator (SPDM) or the ISS flight crew, allows for future experimentation and repair, if necessary. First flight on ISS for OpTIIX, a small 1.5 meter optical telescope, is planned for 2015. In addition to demonstration of key risk-retiring technologies, the OpTIIX program includes a public outreach program to show the broad value of ISS utilization.

STS-109 Onboard Photo of Extra-Vehicular Activity (EVA)

NASA Technical Reports Server (NTRS)

2002-01-01

This is an onboard photo of Astronaut John M. Grunsfield, STS-109 payload commander, participating in the third of five spacewalks to perform work on the Hubble Space Telescope (HST). On this particular walk, Grunsfield, joined by Astronaut Richard M. Lirnehan, turned off the telescope in order to replace its power control unit (PCU), the heart of the HST's power system. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where crew members completed system upgrades to the HST. Included in those upgrades were: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. The HST views galaxies, stars, planets, comets, possibly other solar systems, and even unusual phenomena such as quasars, with 10 times the clarity of ground-based telescopes. Launched March 1, 2002 the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

Space Shuttle Projects

NASA Image and Video Library

2002-03-06

This is an onboard photo of Astronaut John M. Grunsfield, STS-109 payload commander, participating in the third of five spacewalks to perform work on the Hubble Space Telescope (HST). On this particular walk, Grunsfield, joined by Astronaut Richard M. Lirnehan, turned off the telescope in order to replace its power control unit (PCU), the heart of the HST's power system. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where crew members completed system upgrades to the HST. Included in those upgrades were: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. The HST views galaxies, stars, planets, comets, possibly other solar systems, and even unusual phenomena such as quasars, with 10 times the clarity of ground-based telescopes. Launched March 1, 2002 the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

MASTER Optical Flare Detection from the Fastes Accretor in Our Galaxy - IGR J00291+5934.

NASA Astrophysics Data System (ADS)

Lipunov, V.; Rebolo, R.; Serra-Ricart, M.; Lodieu, N.; Israelian, G.; Lipunov, V.; Gorbovskoy, E.; Kornilov, V.; Balanutsa, P.; Tiurina, N.; Kuznetsov, A.; Chazov, V.; Vlasenko, D.; Gorbunov, I.; Buckley, D.; Potter, S.; Kotze, M.; Gress, O.; Budnev, N. M.; Ivanov, K.; Tlatov, A.; Dormidontov, D.; Senik, V.; Parhomenko, A. V.; Krushinski, V.; Zalozhnykh, I.; Sergienko, Yu.; Gabovich, A.; Yurkov, V.

2015-07-01

MASTER II robotic telescope (MASTER-Net: http://observ.pereplet.ru, Lipunov et al., Advances in Astronomy, MASTER Global Robotic Net, 2010) located in IAC was pointed to the Swift IGR J00291+5934 (Cummings et al., GCN 18051) 24 sec after notice time and 1103 sec after trigger time at 2015-07-24 05:42:03 UT.

Modular Orbital Demonstration of an Evolvable Space Telescope (MODEST)

NASA Astrophysics Data System (ADS)

Baldauf, Brian; Conti, Alberto

2016-01-01

The "Search for Life" via imaging of exoplanets is a mission that requires extremely stable telescopes with apertures in the 10 m to 20 m range. The High Definition Space Telescope (HDST) envisioned for this mission would have an aperture >10 m, which is a larger payload than what can be delivered to space using a single launch vehicle. Building and assembling the mirror segments enabling large telescopes will likely require multiple launches and assembly in space. Space-based telescopes with large apertures will require major changes to system architectures.The Optical Telescope Assembly (OTA) for HDST is a primary mission cost driver. Enabling and affordable solutions for this next generation of large aperture space-based telescope are needed.This paper reports on the concept for the Modular Orbital Demonstration of an Evolvable Space Telescope (MODEST), which demonstrates on-orbit robotic and/or astronaut assembly of a precision optical telescope in space. It will also facilitate demonstration of active correction of phase and mirror shape. MODEST is proposed to be delivered to the ISS using standard Express Logistics Carriers (ELCs) and can mounted to one of a variety of ISS pallets. Post-assembly value includes space, ground, and environmental studies, and a testbed for new instruments. This demonstration program for next generation mirror technology provides significant risk reduction and demonstrates the technology in a six-mirror phased telescope. Other key features of the demonstration include the use of an active primary optical surface with wavefront feedback control that allows on-orbit optimization and demonstration of precise surface control to meet optical system wavefront and stability requirements.MODEST will also be used to evaluate advances in lightweight mirror and metering structure materials such as SiC or Carbon Fiber Reinforced Polymer that have excellent mechanical and thermal properties, e.g. high stiffness, high modulus, high thermal conductivity, and low thermal expansion. It has been demonstrated that mirrors built from these materials can be rapidly replicated in a highly cost effective manner, making these materials excellent candidates for a low cost, high performance OTA.

A Tour of the Goldstone-Apple Valley Radio Telescope

NASA Technical Reports Server (NTRS)

Ardenski, Brooke; Stephan, George R.

1997-01-01

Goldstone-Apple Valley Radio Telescope (GAVRT) is located in a remote area of the Mojave Desert, 40 miles north of Barstow, California. The antenna, identified as DSS-12, is a 34-meter diameter dish, 11 times the diameter of a ten foot microwave dish used for satellite television. DSS-12 has been used by NASA to communicate with robotic space probes for more than thirty years.

MS Currie on aft flight deck with checklist

NASA Image and Video Library

2002-03-07

STS109-E-5681 (7 March 2002) --- Astronaut Nancy J. Currie, mission specialist, remains very near the controls (upper left) for Columbia's Remote Manipulator System (RMS). On a week with one lengthy space walk per day, Currie has had her hands full with RMS duties to support the space walks of four crewmates. A short time later on this day, astronauts James H. Newman and Michael J. Massimino began EVA-4 and the duo required the services of Currie to control the robotic arm to maneuver them around the various work stations on the Hubble Space Telescope (HST). The image was recorded with a digital still camera.

Education and Outreach with the Northwest Indiana Robotic Telescope

NASA Astrophysics Data System (ADS)

Rengstorf, Adam W.; Slavin, S. D.

2011-01-01

The Northwest Indiana Robotic (NIRo) Telescope is being used to completely revise the introductory astronomy laboratory experiments at Purdue University Calumet (PUC). The NIRo telescope is a new 20-inch RC telescope. It was dedicated in Aug 2010, is designed to be operated remotely and/or robotically, and is located 30 miles south of PUC's campus in rural Lake county, IN. A suite of laboratory experiments is being developed and piloted during the 2010-2011 academic year. Lab experiments will progress from introductions to instruments and software, through simple data visualization and analysis, to developing and submitting an observing plan to complete multi-week laboratories. Experiments for both the solar system course and the stars & galaxies are being developed. Students in the solar system course will request and analyze images for such experiments as recreating Aristarchus’ relative size & distance calculations, establishing an observing strategy to monitor the Galilean satellites & determine Jupiter's mass, an ongoing `asteroid hunt', Martian retrograde motion, and Venusian phases. The stars & galaxies course will complete labs on galaxy morphology, eclipsing binaries, building an HR-diagram, cluster aging, and distances to Cepheid variables. The main outreach component is the development of a primary education program. In conjunction with the PUC School of Education and area middle-school science teachers, we are in the process of identifying the subset of laboratory ideas best suited to the State of Indiana Earth & Space Science teaching standards from grades 6 - 8. These laboratories are being developed into finished data products, curricula, and learning modules appropriate for the middle school classroom. The middle school classroom will be able to request observations and retrieve reduced images via an internet portal, currently in development. This project has been funded by NSF award #DUE-0736592.

Liverpool telescope 2: a new robotic facility for rapid transient follow-up

NASA Astrophysics Data System (ADS)

Copperwheat, C. M.; Steele, I. A.; Barnsley, R. M.; Bates, S. D.; Bersier, D.; Bode, M. F.; Carter, D.; Clay, N. R.; Collins, C. A.; Darnley, M. J.; Davis, C. J.; Gutierrez, C. M.; Harman, D. J.; James, P. A.; Knapen, J. H.; Kobayashi, S.; Marchant, J. M.; Mazzali, P. A.; Mottram, C. J.; Mundell, C. G.; Newsam, A.; Oscoz, A.; Palle, E.; Piascik, A.; Rebolo, R.; Smith, R. J.

2015-03-01

The Liverpool Telescope is one of the world's premier facilities for time domain astronomy. The time domain landscape is set to radically change in the coming decade, with synoptic all-sky surveys such as LSST providing huge numbers of transient detections on a nightly basis; transient detections across the electromagnetic spectrum from other major facilities such as SVOM, SKA and CTA; and the era of `multi-messenger astronomy', wherein astrophysical events are detected via non-electromagnetic means, such as neutrino or gravitational wave emission. We describe here our plans for the Liverpool Telescope 2: a new robotic telescope designed to capitalise on this new era of time domain astronomy. LT2 will be a 4-metre class facility co-located with the Liverpool Telescope at the Observatorio del Roque de Los Muchachos on the Canary island of La Palma. The telescope will be designed for extremely rapid response: the aim is that the telescope will take data within 30 seconds of the receipt of a trigger from another facility. The motivation for this is twofold: firstly it will make it a world-leading facility for the study of fast fading transients and explosive phenomena discovered at early times. Secondly, it will enable large-scale programmes of low-to-intermediate resolution spectral classification of transients to be performed with great efficiency. In the target-rich environment of the LSST era, minimising acquisition overheads will be key to maximising the science gains from any follow-up programme. The telescope will have a diverse instrument suite which is simultaneously mounted for automatic changes, but it is envisaged that the primary instrument will be an intermediate resolution, optical/infrared spectrograph for scientific exploitation of transients discovered with the next generation of synoptic survey facilities. In this paper we outline the core science drivers for the telescope, and the requirements for the optical and mechanical design.

AstroNet: A Tool Set for Simultaneous, Multi-Site Observations of Astronomical Objects

NASA Technical Reports Server (NTRS)

Chakrabarti, Supriya

1995-01-01

Earth-based, fully automatic "robotic" telescopes have been in routine operation for a number of years. As their number grows and their distribution becomes global, increasing attention is being given to forming networks of various sorts that will allow them, as a group, to make observations 24 hours a day in both hemispheres. We have suggested that telescopes based in space be part of this network. We further suggested that any telescope on this network be capable of asking, almost in real time, that other robotic telescopes perform support observations for them. When a target of opportunity required support observations, the system would determine which telescope(s) in the network would be most appropriate to make the observations and formulate a request to do so. Because the network would be comprised of telescopes located in widely distributed regions, this system would guarantee continuity of observations This report summarizes our efforts under this contract. We proposed to develop a set of data collection and display tools to aid simultaneous observation of astronomical targets from a number of observing sites. We planned to demonstrate the usefulness of this toolset for simultaneous multi-site observation of astronomical targets. Possible candidates or the proposed demonstration included the Extreme Ultraviolet Explorer (EUVE), International Ultraviolet Explorer (IUE), and ALEXIS, sounding rocket experiments. Ground-based observatories operated by the University of California, Berkeley, the Jet Propulsion Laboratory, and Fairborn Observatory in Mesa, Arizona were to be used to demonstrate the proposed concept. Although the demonstration was to have involved astronomical investigations, the tools were to have been applicable to a large number of scientific disciplines. The software tools and systems developed as a result of the work were to have been made available to the scientific community.

Rationale and Initial Design for a Virtual Undergraduate Internship in Astronomy

NASA Astrophysics Data System (ADS)

Berryhill, Katie; Slater, T. F.; Slater, S. J.

2012-01-01

In recent decades, research experiences for undergraduates (REUs) programs have provided students with opportunities to spend a summer working on a research project with a faculty mentor. The aim of these programs has generally been to take up the challenge of the Boyer-2 report to introduce research-based learning into the undergraduate experience (Boyer 1998). Recent efforts have been aimed at encouraging women and underrepresented minorities to pursue STEM careers. With the advent of successful models for online degree programs that can add to the STEM workforce pipeline, there is now the possibility of expanding these research experiences to include the new diverse demographic of previously untapped online learners. Many online learners are working adults, and therefore do not have the same flexibility as traditional undergraduates to attend a summer REU at another institution, nor do they have the opportunity for internships at their home institution. This project is intended to leverage significant developments in rapidly emerging social media; investments in Internet-accessible telescopes for professional and amateur use; and contemporary advances in the learning sciences to build pathways through long-term, collaborative, astronomy research projects. The first stage involves developing initial research protocols and online mentoring infrastructures for establishing an ongoing national program for virtual astronomy internships for undergraduate STEM majors. Underlying this project is a plan for students to work collaboratively alongside active professional and amateur astronomers to conduct original research using remotely controlled and robotic telescopes. We anticipate that by the start of this project, more than 100 robotic and remotely controlled telescopes will exist around the world (mo-www.harvard.edu/OWN, aavso.org/aavsonet, and lcogt.net among others) providing continuous world-wide coverage. We plan to test and iteratively build a successful infrastructure for students to take advantage of these and other rapidly emerging resources and support an expansion of the STEM career workforce.

Tracker controls development and control architecture for the Hobby-Eberly Telescope Wide Field Upgrade

NASA Astrophysics Data System (ADS)

Mock, Jason R.; Beno, Joe; Rafferty, Tom H.; Cornell, Mark E.

2010-07-01

To enable the Hobby-Eberly Telescope Wide Field Upgrade, the University of Texas Center for Electromechanics and McDonald Observatory are developing a precision tracker system - a 15,000 kg robot to position a 3,100 kg payload within 10 microns of a desired dynamic track. Performance requirements to meet science needs and safety requirements that emerged from detailed Failure Modes and Effects Analysis resulted in a system of 14 precision controlled actuators and 100 additional analog and digital devices (primarily sensors and safety limit switches). This level of system complexity and emphasis on fail-safe operation is typical of large modern telescopes and numerous industrial applications. Due to this complexity, demanding accuracy requirements, and stringent safety requirements, a highly versatile and easily configurable centralized control system that easily links with modeling and simulation tools during the hardware and software design process was deemed essential. The Matlab/Simulink simulation environment, coupled with dSPACE controller hardware, was selected for controls development and realization. The dSPACE real-time operating system collects sensor information; motor commands are transmitted over a PROFIBUS network to servo amplifiers and drive motor status is received over the same network. Custom designed position feedback loops, supplemented by feed forward force commands for enhanced performance, and algorithms to accommodate self-locking gearboxes (for safety), reside in dSPACE. To interface the dSPACE controller directly to absolute Heidenhain sensors with EnDat 2.2 protocol, a custom communication board was developed. This paper covers details of software and hardware, design choices and analysis, and supporting simulations (primarily Simulink).

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2005-01-01

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. The development includes an analysis of the estimator stability given errors in the measured attitude. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given, including scenarios with erroneous measured attitudes. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft.

Wide Field Camera 3 Accommodations for HST Robotics Servicing Mission

NASA Technical Reports Server (NTRS)

Ginyard, Amani

2005-01-01

This slide presentation discusses the objectives of the Hubble Space Telescope (HST) Robotics Servicing and Deorbit Mission (HRSDM), reviews the Wide Field Camera 3 (WFC3), and also reviews the contamination accomodations for the WFC3. The objectives of the HRSDM are (1) to provide a disposal capability at the end of HST's useful life, (2) to upgrade the hardware by installing two new scientific instruments: replace the Corrective Optics Space Telescope Axial Replacement (COSTAR) with the Cosmic Origins Spectrograph (COS), and to replace the Wide Field/Planetary Camera-2 (WFPC2) with Wide Field Camera-3, and (3) Extend the Scientific life of HST for a minimum of 5 years after servicing. Included are slides showing the Hubble Robotic Vehicle (HRV) and slides describing what the HRV contains. There are also slides describing the WFC3. One of the mechanisms of the WFC3 is to serve partially as replacement gyroscopes for HST. There are also slides that discuss the contamination requirements for the Rate Sensor Units (RSUs), that are part of the Rate Gyroscope Assembly on the WFC3.

SETIBURST: A Robotic, Commensal, Realtime Multi-science Backend for the Arecibo Telescope

NASA Astrophysics Data System (ADS)

Chennamangalam, Jayanth; MacMahon, David; Cobb, Jeff; Karastergiou, Aris; Siemion, Andrew P. V.; Rajwade, Kaustubh; Armour, Wes; Gajjar, Vishal; Lorimer, Duncan R.; McLaughlin, Maura A.; Werthimer, Dan; Williams, Christopher

2017-02-01

Radio astronomy has traditionally depended on observatories allocating time to observers for exclusive use of their telescopes. The disadvantage of this scheme is that the data thus collected is rarely used for other astronomy applications, and in many cases, is unsuitable. For example, properly calibrated pulsar search data can, with some reduction, be used for spectral line surveys. A backend that supports plugging in multiple applications to a telescope to perform commensal data analysis will vastly increase the science throughput of the facility. In this paper, we present “SETIBURST,” a robotic, commensal, realtime multi-science backend for the 305 m Arecibo Telescope. The system uses the 1.4 GHz, seven-beam Arecibo L-band Feed Array (ALFA) receiver whenever it is operated. SETIBURST currently supports two applications: SERENDIP VI, a SETI spectrometer that is conducting a search for signs of technological life, and ALFABURST, a fast transient search system that is conducting a survey of fast radio bursts (FRBs). Based on the FRB event rate and the expected usage of ALFA, we expect 0-5 FRB detections over the coming year. SETIBURST also provides the option of plugging in more applications. We outline the motivation for our instrumentation scheme and the scientific motivation of the two surveys, along with their descriptions and related discussions.

The 64 Mpixel wide field imager for the Wendelstein 2m telescope: design and calibration

NASA Astrophysics Data System (ADS)

Kosyra, Ralf; Gössl, Claus; Hopp, Ulrich; Lang-Bardl, Florian; Riffeser, Arno; Bender, Ralf; Seitz, Stella

2014-11-01

The Wendelstein Observatory of Ludwig Maximilians University of Munich has recently been upgraded with a modern 2m robotic telescope. One Nasmyth port of the telescope has been equipped with a wide-field corrector which preserves the excellent image quality (<0.8 " median seeing) of the site (Hopp et al. 2008) over a field of view of 0.7 degrees diameter. The available field is imaged by an optical imager (WWFI, the Wendelstein Wide Field Imager) built around a customized 2×2 mosaic of 4 k×4 k 15 μm e2v CCDs from Spectral Instruments. This paper provides an overview of the design and the WWFI's performance. We summarize the system mechanics (including a structural analysis), the electronics (and its electromagnetic interference (EMI) protection) and the control software. We discuss in detail detector system parameters, i.e. gain and readout noise, quantum efficiency as well as charge transfer efficiency (CTE) and persistent charges. First on sky tests yield overall good predictability of system throughput based on lab measurements.

STS-109 Crew Interviews - Currie

NASA Technical Reports Server (NTRS)

2002-01-01

STS-109 Mission Specialist 2 Nancy Jane Currie is seen during a prelaunch interview. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the Columbia Orbiter mission which has as its main tasks the maintenance and augmentation of the Hubble Space Telescope (HST). While she will do many things during the mission, the most important will be her role as the primary operator of the robotic arm, which is responsible for grappling the HST, bringing it to the Orbiter bay, and providing support for the astronauts during their EVAs (Extravehicular Activities). Additionally, the robotic arm will be responsible for transferring new and replacement equipment from the Orbiter to the HST. This equipment includes: two solar arrays, a Power Control Unit (PCU), the Advanced Camera for Surveys, and a replacement cooling system for NICMOS (Near Infrared Camera Multi-Object Spectrometer).

FRAM telescope - monitoring of atmospheric extinction and variable star photometry

NASA Astrophysics Data System (ADS)

Jurysek, J.; Honkova, K.; Masek, M.

2015-02-01

The FRAM (F/(Ph)otometric Robotic Atmospheric Monitor) telescope is a part of the Pierre Auger Observatory (PAO) located near town Malargüe in Argentina. The main task of the FRAM telescope is the continuous night - time monitoring of the atmospheric extinction and its wavelength dependence. The current methodology of the measurement of a atmospheric extinction and for instrumentation properties also allows simultaneous observation of other interesting astronomical targets. The current observations of the FRAM telescope are focused on the photometry of eclipsing binaries, positional refinement of minor bodies of the Solar system and observations of optical counterparts of gamma ray bursts. In this contribution, we briefly describe the main purpose of the FRAM telescope for the PAO and we also present its current astrono mical observing program.

New National Telescope at La Silla - TRAPPIST to Scout the Sky and Uncover Exoplanets and Comets

NASA Astrophysics Data System (ADS)

2010-06-01

A new robotic telescope has had first light at ESO's La Silla Observatory, in Chile. TRAPPIST (TRAnsiting Planets and PlanetesImals Small Telescope) is devoted to the study of planetary systems through two approaches: the detection and characterisation of planets located outside the Solar System (exoplanets) and the study of comets orbiting around the Sun. The 60-cm telescope is operated from a control room in Liège, Belgium, 12 000 km away. "The two themes of the TRAPPIST project are important parts of an emerging interdisciplinary field of research - astrobiology - that aims at studying the origin and distribution of life in the Universe," explains Michaël Gillon, who is in charge of the exoplanet studies. "Terrestrial planets similar to our Earth are obvious targets for the search for life outside the Solar System, while comets are suspected to have played an important role in the appearance and development of life on our planet," adds his colleague Emmanuël Jehin, who leads the cometary part of the project. TRAPPIST will detect and characterise exoplanets by making high precision measurements of "brightness dips" that might possibly be caused by exoplanet transits. During such a transit, the observed brightness of the star decreases slightly because the planet blocks a part of the starlight. The larger the planet, the more of the light is blocked and the more the brightness of the star will decrease [1]. "ESO's La Silla Observatory on the outskirts of the Atacama Desert is certainly one of the best astronomical sites in the world," says Gillon. "And because it is already home to two superb exoplanet hunters, we couldn't have found a better place to install our robotic telescope." The astronomers behind the TRAPPIST initiative will work very closely with the teams using HARPS on the 3.6-metre telescope and CORALIE attached to the Swiss 1.2-metre Leonhard Euler Telescope, both at La Silla. TRAPPIST is a collaboration between the University of Liège and the Geneva Observatory, Switzerland. The telescope is installed in the building that housed the old Swiss T70 telescope. Thanks to this collaboration, the whole project is on a fast track: it took only two years between taking the decision to build and first light. TRAPPIST will also be used for the study of southern comets. To this aim, the telescope is equipped with special large, high quality cometary filters, allowing astronomers to study regularly and in detail the ejection of several types of molecules by comets during their journey around the Sun. "With dozens of comets observed each year, this will provide us with a unique dataset, bringing important information about their nature," says Jehin. TRAPPIST is a lightweight 0.6-metre robotic telescope, fully automated and moving precisely across the sky at a high speed. The observing programme is prepared in advance and the telescope can perform a full night of observations unattended. A meteorological station monitors the weather continuously and decides to close the dome if necessary. Notes [1] A planetary transit occurs when a celestial body passes in front of its host star and blocks some of the star's light. This type of eclipse causes changes in the apparent brightness of the star and enables the planet's diameter to be measured. Combined with radial velocity measurements, it is also possible to deduce the mass and, hence, the density of the planet. More information TRAPPIST (TRAnsiting Planets and PlanetesImals Small Telescope) is a project led by the Department of Astrophysics, Geophysics and Oceanography (AGO) of the University of Liège (Belgium), in close collaboration with the Observatory of Geneva (Switzerland). TRAPPIST is mostly funded by the Belgian Fund for Scientific Research (FNRS) with the participation of the Swiss National Science Foundation (SNF). The team is composed of Emmanuël Jehin, Michaël Gillon, Pierre Magain, Virginie Chantry, Jean Manfroid, and Damien Hutsemékers (University of Liège, Belgium) and Didier Queloz and Stéphane Udry (Observatory of Geneva, Switzerland). The name TRAPPIST was given to the telescope to underline the Belgian origin of the project. Trappist beers are famous all around the world and most of them are Belgian. Moreover, the team members really appreciate them!

Maryalnd House enironment & Transportation Committee Visit

NASA Image and Video Library

2016-11-15

Center Director Chris Scolese welcomed the Maryland House Environment & Transportation Committee to Goddard on November 15, 2016. The group visited the James Webb Space Telescope JWST, then they toured the Robotics Operations Facility.

Project MINERVA's Follow-up on Wide-Field, Small Telescope Photometry to Identify Exoplanets

NASA Astrophysics Data System (ADS)

Houghton, Audrey; Henderson, Morgan; Johnson, Samson; Sergi, Anthony; Eastman, Jason D.; Beatty, Thomas G.; McCrady, Nate

2017-01-01

MINERVA is an array of four 0.7-m telescopes equipped for high precision photometry and spectroscopy dedicated to exoplanet observations. During the first 18 months of science operations, MINERVA engaged in a program of photometric follow-up of potential transiting exoplanet targets identified by the Kilodegree Extremely Little Telescope (KELT). Robotically-obtained observations are passed through our data reduction pipeline and we extract light curves via differential photometry. We seek transit signals via a Markov chain Monte Carlo fit using BATMAN. We discuss results for over 100 target stars analyzed to date.

Polish and European SST Assets: the Solaris-Panoptes Global Network of Robotic Telescopes and the Borowiec Satellite Laser Ranging System

NASA Astrophysics Data System (ADS)

Konacki, M.; Lejba, P.; Sybilski, P.; Pawłaszek, R.; Kozłowski, S.; Suchodolski, T.; Litwicki, M.; Kolb, U.; Burwitz, V.; Baader, J.; Groot, P.; Bloemen, S.; Ratajczak, M.; Helminiak, K.; Borek, R.; Chodosiewicz, P.

2016-09-01

We present the assets of the Nicolaus Copernicus Astronomical Center, Space Research Center (both of the Polish Academy of Sciences), two Polish companies Sybilla Technologies, Cillium Engineering and a non-profit research foundation Baltic Institute of Technology. These assets are enhanced by telescopes belonging to The Open University (UK), the Max Planck Institute for Extraterrestrial Physics and in the future the Radboud University. They consist of the Solaris-Panoptes global network of optical robotic telescopes and the satellite laser ranging station in Borowiec, Poland. These assets will contribute to the Polish and European Space Surveillance and Tracking (SST) program. The Solaris component is composed of four autonomous observatories in the Southern Hemisphere. Solaris nodes are located at the South African Astronomical Observatory (Solaris-1 and Solaris-2), Siding Spring Observatory, Australia (Solaris-3) and Complejo Astronomico El Leoncito, Argentina (Solaris-4). They are equipped with 0.5-m telescopes on ASA DDM-160 direct drive mounts, Andor iKon-L cameras and housed in 3.5-m Baader Planetarium (BP) clamshell domes. The Panoptes component is a network of telescopes operated by software from Sybilla Technologies. It currently consists of 4 telescopes at three locations, all on GM4000 mounts. One 0.36-m (Panoptes-COAST, STL- 1001E camera, 3.5 BP clamshell dome) and one 0.43-m (Panoptes-PIRATE, FLI 16803 camera, 4.5-m BP clamshell dome, with planned exchange to 0.63-m) telescope are located at the Teide Observatory (Tenerfie, Canary Islands), one 0.6-m (Panoptes-COG, SBIG STX 16803 camera, 4.5-m BP clamshell dome) telescope in Garching, Germany and one 0.5-m (Panoptes-MAM, FLI 16803 camera, 4.5-m BP slit dome) in Mammendorf, Germany. Panoptes-COAST and Panoptes-PIRATE are owned by The Open University (UK). Panoptes-COG is owned by the Max Planck Institute

Orbit Refinement of Asteroids and Comets Using a Robotic Telescope Network

NASA Astrophysics Data System (ADS)

Lantz Caughey, Austin; Brown, Johnny; Puckett, Andrew W.; Hoette, Vivian L.; Johnson, Michael; McCarty, Cameron B.; Whitmore, Kevin; UNC-Chapel Hill SKYNET Team

2016-01-01

We report on a multi-semester project to refine the orbits of asteroids and comets in our Solar System. One of the newest fields of research for undergraduate Astrophysics students at Columbus State University is that of asteroid astrometry. By measuring the positions of an asteroid in a set of images, we can reduce the overall uncertainty in the accepted orbital parameters of that object. These measurements, using our WestRock Observatory (WRO) and several other telescopes around the world, are being published through the Minor Planet Center (MPC) and benefit the global community.Three different methods are used to obtain these observations. First, we use our own 24-inch telescope at WRO, located in at CSU's Coca-Cola Space Science Center in downtown Columbus, Georgia . Second, we have access to data from the 20-inch telescope at Stone Edge Observatory in El Verano, California. Finally, we may request images remotely using Skynet, an online worldwide network of robotic telescopes. Our primary and long-time collaborator on Skynet has been the "41-inch" reflecting telescope at Yerkes Observatory in Williams Bay, Wisconsin. Thus far, we have used these various telescopes to refine the orbits of more than 15 asteroids and comets. We have also confirmed the resulting reduction in orbit-model uncertainties using Monte Carlo simulations and orbit visualizations, using Find_Orb and OrbitMaster software, respectively.Before any observatory site can be used for official orbit refinement projects, it must first become a trusted source of astrometry data for the MPC. We have therefore obtained Observatory Codes not only for our own WestRock Observatory (W22), but also for 3 Skynet telescopes that we may use in the future: Dark Sky Observatory in Boone, North Carolina (W38) Hume Observatory in Santa Rosa, California (U54) and Athabasca University Geophysical Observatory in Athabasca, Alberta, Canada (U96).

Kinematic optimization of upgrade to the Hobby-Eberly Telescope through novel use of commercially available three-dimensional CAD package

NASA Astrophysics Data System (ADS)

Wedeking, Gregory A.; Zierer, Joseph J.; Jackson, John R.

2010-07-01

The University of Texas, Center for Electromechanics (UT-CEM) is making a major upgrade to the robotic tracking system on the Hobby Eberly Telescope (HET) as part of theWide Field Upgrade (WFU). The upgrade focuses on a seven-fold increase in payload and necessitated a complete redesign of all tracker supporting structure and motion control systems, including the tracker bridge, ten drive systems, carriage frames, a hexapod, and many other subsystems. The cost and sensitivity of the scientific payload, coupled with the tracker system mass increase, necessitated major upgrades to personnel and hardware safety systems. To optimize kinematic design of the entire tracker, UT-CEM developed novel uses of constraints and drivers to interface with a commercially available CAD package (SolidWorks). For example, to optimize volume usage and minimize obscuration, the CAD software was exercised to accurately determine tracker/hexapod operational space needed to meet science requirements. To verify hexapod controller models, actuator travel requirements were graphically measured and compared to well defined equations of motion for Stewart platforms. To ensure critical hardware safety during various failure modes, UT-CEM engineers developed Visual Basic drivers to interface with the CAD software and quickly tabulate distance measurements between critical pieces of optical hardware and adjacent components for thousands of possible hexapod configurations. These advances and techniques, applicable to any challenging robotic system design, are documented and describe new ways to use commercially available software tools to more clearly define hardware requirements and help insure safe operation.

Design and testing of a model CELSS chamber robot

NASA Astrophysics Data System (ADS)

Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; McCarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

1994-08-01

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended.

Design and testing of a model CELSS chamber robot

NASA Technical Reports Server (NTRS)

Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; Mccarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

1994-01-01

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. This proved that it was stable. Another pre-test was the actuator slip test used to determine if there is an adequate coefficient of friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

Maryland House Environment & Transportation Committee Visit

NASA Image and Video Library

2016-11-15

Center Director Chris Scolese welcomed the Maryland House Environment & Transportation Committee to Goddard on November 15, 2016. The group visited the James Webb Space Telescope JWST and then they toured the Robotics Operations Facility.

GSFC_20170308_2017-8679_041

NASA Image and Video Library

2017-03-08

Lt. Governor Rutherford and staff visited Goddard on March 8, 2017. They toured James Webb Space Telescope with Bill Ochs and Robotics Operations Center with Ben Reed. They also met John Mather, Nobel Prize winner.

GSFC_20170308_2017-8679_036

NASA Image and Video Library

2017-03-08

Lt. Governor Rutherford and staff visited Goddard on March 8, 2017. They toured James Webb Space Telescope with Bill Ochs and Robotic Operations Center with Ben Reed. They also met John Mather, Nobel Prize winner.

GSFC_20170308_2017-8679_015

NASA Image and Video Library

2017-03-08

Lt. Governor Rutherford and staff visited Goddard on March 8, 2017. They toured James Webb Space Telescope with Bill Ochs and Robotic Operations Center with Ben Reed. They also met John Mather, Nobel Prize winner.

Updates on Search for Correlations Between Sprites and TGFs By Goddard Robotic Telescope Wide Field (GRT-WF)

NASA Astrophysics Data System (ADS)

Watanabe, K.; Alaniz, S.; Sakamoto, T.; Okajima, T.; Gehrels, N.; Chagnon, H.; Atkins, C.; Keefe, K.; Gutierrez, K.

2016-12-01

Although several theoretical explanations for Terrestrial Gamma-ray Flashes (TGFs) exist, we still do not clearly understand the cause of the phenomena. On the other hand, free electrons in the Earth atmosphere produce lightnings (under the TGF regions) as well as sprites (above the TGF regions) . We have been studying possible connections between sprites and TGFs. We constructed Goddard Robotic Telescope - Wide Field (GRT-WF) in June 2011, which is composed of seven wide field optical camera located at Florida Gulf Coast University (FGCU) in Fort Myers, FL, to observe sprites in all the directions of the sky. We have recorded over 600 sprites so far, and studied possible associations with TGFs detected by NASA's Fermi/GBM and RHESSI. We will present the current status of our study.

PaR Tensile Truss for Nuclear Decontamination and Decommissioning - 12467

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

Doebler, Gary R.

2012-07-01

Remote robotics and manipulators are commonly used in nuclear decontamination and decommissioning (D and D) processes. D and D robots are often deployed using rigid telescoping masts in order to apply and counteract side loads. However, for very long vertical reaches (15 meters or longer) and high lift capacities, a telescopic is usually not practical due to the large cross section and weight required to make the mast stiff and resist seismic forces. For those long vertical travel applications, PaR Systems has recently developed the Tensile Truss, a rigid, hoist-driven 'structure' that employs six independent wire rope hoists to achievemore » long vertical reaches. Like a mast, the Tensile Truss is typically attached to a bridge-mounted trolley and is used as a platform for robotic manipulators and other remotely operated tools. For suspended, rigid deployment of D and D tools with very long vertical reaches, the Tensile Truss can be a better alternative than a telescoping mast. Masts have length limitations that can make them impractical or unworkable as lengths increase. The Tensile Truss also has the added benefits of increased safety, ease of decontamination, superior stiffness and ability to withstand excessive side loading. A Tensile Truss system is currently being considered for D and D operations and spent fuel recovery at the Fukushima Daiichi Nuclear Power Plant in Japan. This system will deploy interchangeable tools such as underwater hydraulic manipulators, hydraulic shears and crushers, grippers and fuel grapples. (authors)« less

SkWwatch: Introducing European Youth to the World of Scientific Research through Interactive Utilisation of a Global Network of Robotic Telescopes

NASA Astrophysics Data System (ADS)

Sotiriou, M.; Vrazopoulos, H.; Ioannou, P.; Sotiriou, S.; Vagenas, E.

2005-12-01

The SkyWatch project is co-fi nanced by the European Community, within the FP6 framework of Science and Society, The SkyWatch consortium is composed by the following partners: Q-PLAN (GR), EDEN - Open Classroom (UK), Astrophysics Research Institute - Liverpool John Moores University (UK), European Physical Society (FR), Ellinogermaniki Agogi (GR), Stockholm University (SE), SCIENCE PROJECTS (UK) and University of Duisburg-Essen (DE). The aim of the SkyWatch project is to build up the number of youngsters involved in a series of science projects to create a virtual community of prospective young researchers promoting scientifi c culture. The project will allow young people to access and use robotic telescopes remotely in real-time, perform observations, analyze data and results and fi nally to develop and suggest solutions to selected research/scientifi c topics, all achieved through an innovative web-based learning environment. The dissemination of the project's activities is also served by a European Science Contest on science topics and projects, a series of popular science distance learning courses (Science Days) for European youth, promotion of concepts and ideas of science of a multidisciplinary nature: astronomy, physics, mathematics, chemistry, etc. The young participants are prompted to organize teams (school classes, groups of students, etc.) and to design, develop and implement projects and activities with the use of robotic telescopes under the guidance and the continuous support of a team of experts.

BOOTES and GTC observations of cosmic gamma-ray bursts and their progenitors

NASA Astrophysics Data System (ADS)

Castro-Tirado, Alberto J.

2016-07-01

We will summarize the follow-up observations of gamma-ray bursts performed worldwide by the BOOTES Network of robotic telescopes (with some of the data being contemporaneous to the prompt emission) leading to the discovery of many afterglows. Complementary data has been also obtained by the 10.4m GTC telescope in La Palma (mainly spectroscopy), with one of them being the highest extinguished afterglow detected to date.

Guidance and control 1991; Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, Feb. 2-6, 1991

NASA Astrophysics Data System (ADS)

Culp, Robert D.; McQuerry, James P.

1991-07-01

The present conference on guidance and control encompasses advances in guidance, navigation, and control, storyboard displays, approaches to space-borne pointing control, international space programs, recent experiences with systems, and issues regarding navigation in the low-earth-orbit space environment. Specific issues addressed include a scalable architecture for an operational spaceborne autonavigation system, the mitigation of multipath error in GPS-based attitude determination, microgravity flight testing of a laboratory robot, and the application of neural networks. Other issues addressed include image navigation with second-generation Meteosat, Magellan star-scanner experiences, high-precision control systems for telescopes and interferometers, gravitational effects on low-earth orbiters, experimental verification of nanometer-level optical pathlengths, and a flight telerobotic servicer prototype simulator. (For individual items see A93-15577 to A93-15613)

NASA Tech Briefs, April 2006

NASA Technical Reports Server (NTRS)

2006-01-01

The topics covered include: 1) Replaceable Sensor System for Bioreactor Monitoring; 2) Unitary Shaft-Angle and Shaft-Speed Sensor Assemblies; 3) Arrays of Nano Tunnel Junctions as Infrared Image Sensors; 4) Catalytic-Metal/PdO(sub x)/SiC Schottky-Diode Gas Sensors; 5) Compact, Precise Inertial Rotation Sensors for Spacecraft; 6) Universal Controller for Spacecraft Mechanisms; 7) The Flostation - an Immersive Cyberspace System; 8) Algorithm for Aligning an Array of Receiving Radio Antennas; 9) Single-Chip T/R Module for 1.2 GHz; 10) Quantum Entanglement Molecular Absorption Spectrum Simulator; 11) FuzzObserver; 12) Internet Distribution of Spacecraft Telemetry Data; 13) Semi-Automated Identification of Rocks in Images; 14) Pattern-Recognition Algorithm for Locking Laser Frequency; 15) Designing Cure Cycles for Matrix/Fiber Composite Parts; 16) Controlling Herds of Cooperative Robots; 17) Modification of a Limbed Robot to Favor Climbing; 18) Vacuum-Assisted, Constant-Force Exercise Device; 19) Production of Tuber-Inducing Factor; 20) Quantum-Dot Laser for Wavelengths of 1.8 to 2.3 micron; 21) Tunable Filter Made From Three Coupled WGM Resonators; and 22) Dynamic Pupil Masking for Phasing Telescope Mirror Segments.

Modular Orbital Demonstration of an Evolvable Space Telescope

NASA Astrophysics Data System (ADS)

Baldauf, Brian

2016-06-01

The key driver for a telescope's sensitivityis directly related to the size of t he mirror area that collects light from the objects being observed.The "Search for Life" via imaging of exoplanets is a mission that requires extremely stable telescopes with apertures in the 10 m to 20 m range. The HDST envisioned for this mission would have an aperture >10 m, which is a larger payload than can be delivered to space using a single launch vehicle. Building and assembling the mirror segments enabling large telescopes will likely require multiple launches and assembly in space. The Optical Telescope Assembly for HDST is a primary mission cost driver. Enabling affordable solutions for this next generation of large aperture space-based telescope are needed.This reports on the concept for the MODEST, which demonstrates on-orbit robotic and/or astronaut assembly of a precision optical telescope in space. It will facilitate demonstration of active correction of phase and mirror shape. MODEST is proposed to be delivered to the ISS using standard Express Logistics Carriers and can mounted to one of a variety of ISS pallets. Post-assembly value includes space, ground, and environmental studies, a testbed for new instruments, and a tool for student's exploration of space. This demonstration program for next generation mirror technology provides significant risk reduction and demonstrates the technology in a six-mirror phased telescope. Key features of the demonstration include the use of an active primary optical surface with wavefront feedback control that allows on-orbit optimization and demonstration of precise surface control to meet optical system wavefront and stability requirements.MODEST will also be used to evaluate advances in lightweight mirror and metering structure materials such as SiC or Ceramic Matrix Composite that have excellent mechanical and thermal properties, e.g. high stiffness, high thermal conductivity, and low thermal expansion. It has been demonstrated that mirrors built from these materials can be rapidly replicated in a highly cost effective manner, making these materials excellent candidates for a low cost, high performance OTA.

Inflatable Hangar for Assembly of Large Structures in Space

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2012-01-01

The NASA Human Space Flight program is interested in projects where humans, beyond low-Earth orbit (LEO), can make an important and unique contribution that cannot be reasonably accomplished purely by robotic means, and is commensurate with the effort and cost associated with human spaceflight. Robotic space telescope missions have been conceived and launched as completed assemblies (e.g., Hubble) or as jack-in-the-box one-time deployments (e.g., James Webb). If it were possible to assemble components of a very large telescope from one or two launches into a telescope that was vastly greater in light-gathering power and resolution, that would constitute a breakthrough. Large telescopes on Earth, like all one-off precision assembly tasks, are done by humans. Humans in shirtsleeves (or cleanroom bunny suits) can perform tasks of remarkable dexterity and precision. Unfortunately, astronauts in pressure suits cannot perform such dexterous and precise tasks because of the limitations of the pressurized gloves. If a large, inflatable hangar were placed in high orbit, along with all the components needed for a large assembly such as a large telescope, then humans in bunny suits could perform the same sorts of extremely precise and dexterous assembly that they could be expected to perform on Earth. Calculations show that such an inflatable hangar, and the necessary gas to make it safe to occupy by shirtsleeves humans wearing oxygen masks, fits within the mass and volume limitations of the proposed "Space Launch System" heavy-lift rocket. A second launch could bring up all the components of an approximately 100-meter-diameter or larger telescope. A large [200 ft (approximately 61 m) in diameter] inflated fabric sphere (or hangar) would contain four humans in bunny suits. The sphere would contain sufficient atmospheric pressure so that spacesuits would not be necessary [about 3.2 psi (approximately 22 kPa)]. The humans would require only oxygen masks and small backpacks similar to SCUBA tanks. The oxygen content of the gas would be about 35%, low enough to reduce fire risk but high enough to sustain life in the event of a failure of an oxygen mask. The bunnysuited astronauts could ride on long "cherry-picker" robots with foot restraints somewhat similar to the arm on the International Space Station. Other astronauts would maneuver freely with small propeller fans on their backpacks to provide thrust in the zero-g environment.

Novel uses of surgical robotics in head and neck surgery.

PubMed

Lobe, Thom E; Wright, Simon K; Irish, Michael S

2005-12-01

To demonstrate the utility of robotically assisted approaches in head and neck surgery. Two teenage patients, one with a solitary thyroid nodule who was scheduled for a right thyroid lobectomy and the other with intractable seizures who was scheduled for placement of a vagal nerve stimulator were offered the option of a robotically assisted technique using a transaxillary endoscopic approach. Both procedures were completed successfully using the da Vinci surgical system (Intuitive Surgical, Sunnyvale, California). A 12 mm telescope and 5 mm instruments were used. There was sufficient mobility of the robotic arms despite the small working space. There were no complications, minimal pain in the axillary incisions, and patient satisfaction was high. Operative times were 4.5 and 4.2 hours, respectively. Transaxillary, endoscopic, robotically assisted approaches to the head and neck are feasible. The addition of robotics improves surgical dexterity in a difficult-to-reach anatomic region. Patient satisfaction appears high because of the avoidance of a cervical incision.

Technical vision for robots

NASA Astrophysics Data System (ADS)

1985-01-01

A new invention by scientists who have copied the structure of a human eye will help replace a human telescope-watching astronomer with a robot. It will be possible to provide technical vision not only for robot astronomers but also for their industrial fellow robots. So far, an artificial eye with dimensions close to those of a human eye discerns only black-and-white images. But already the second model of the eye is to perceive colors as well. Polymers which are suited for the role of the coat of an eye, lens, and vitreous body were applied. The retina has been replaced with a bundle of the finest glass filaments through which light rays get onto photomultipliers. They can be positioned outside the artificial eye. The main thing is to prevent great losses in the light guide.

Testing command and control of the satellites in formation flight

NASA Astrophysics Data System (ADS)

Gheorghe, Popan; Gheorghe, Gh. Ion; Gabriel, Todoran

2013-10-01

The topics covered in the paper are mechatronic systems for determining the distance between the satellites and the design of the displacement system on air cushion table for satellites testing. INCDMTM has the capability to approach the collaboration within European Programms (ESA) of human exploration of outer space through mechatronic systems and accessories for telescopes, mechatronics systems used by the launchers, sensors and mechatronic systems for the robotic exploration programs of atmosphere and Mars. This research has a strong development component of industrial competitiveness many of the results of space research have direct applicability in industrial fabrication.

SETIBURST: A Robotic, Commensal, Realtime Multi-science Backend for the Arecibo Telescope

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

Chennamangalam, Jayanth; Karastergiou, Aris; Williams, Christopher

Radio astronomy has traditionally depended on observatories allocating time to observers for exclusive use of their telescopes. The disadvantage of this scheme is that the data thus collected is rarely used for other astronomy applications, and in many cases, is unsuitable. For example, properly calibrated pulsar search data can, with some reduction, be used for spectral line surveys. A backend that supports plugging in multiple applications to a telescope to perform commensal data analysis will vastly increase the science throughput of the facility. In this paper, we present “SETIBURST,” a robotic, commensal, realtime multi-science backend for the 305 m Arecibomore » Telescope. The system uses the 1.4 GHz, seven-beam Arecibo L -band Feed Array (ALFA) receiver whenever it is operated. SETIBURST currently supports two applications: SERENDIP VI, a SETI spectrometer that is conducting a search for signs of technological life, and ALFABURST, a fast transient search system that is conducting a survey of fast radio bursts (FRBs). Based on the FRB event rate and the expected usage of ALFA, we expect 0–5 FRB detections over the coming year. SETIBURST also provides the option of plugging in more applications. We outline the motivation for our instrumentation scheme and the scientific motivation of the two surveys, along with their descriptions and related discussions.« less

NEWS: Hands-on telescopes!

NASA Astrophysics Data System (ADS)

2000-05-01

As part of the International Astronomical Union Meeting taking place in Manchester in August, the Education Committee of the Royal Astronomical Society is organizing a day conference on using robotic telescopes in schools. `Astronomy research projects for schools and university students' will commence at 10.30 on Friday 18 August 2000. This discussion meeting will explore ways in which students at school and university can participate in research projects, and at the same time increase their understanding of astronomy and develop useful skills. The increase in access to robotic telescopes and to astronomy databases is making research by school and undergraduate students ever more feasible. In addition, useful research can be done with very modest telescope systems, of the sort a school could afford. A range of international speakers will describe and demonstrate the possibilities, as well as leading the discussion. This meeting is being organized by the Education Committee of the Royal Astronomical Society and by Commission 46 of the International Astronomical Union. It is being held at the end of the IAU General Assembly. Those who pay the registration fee for the General Assembly need pay no further fee for attending the discussion meeting; otherwise there is a fee of £10. Refreshments will be provided at no charge. To obtain a registration form for this discussion meeting please contact Alan Pickwick (Alan_C_Pickwick@compuserve.com).

Robotic Spectroscopy at the Dark Sky Observatory

NASA Astrophysics Data System (ADS)

Rosenberg, Daniel E.; Gray, Richard O.; Mashburn, Jonathan; Swenson, Aaron W.; McGahee, Courtney E.; Briley, Michael M.

2018-06-01

Spectroscopic observations using the classification-resolution Gray-Miller spectrograph attached to the Dark Sky Observatory 32 inch telescope (Appalachian State University, North Carolina) have been automated with a robotic script called the “Robotic Spectroscopist” (RS). RS runs autonomously during the night and controls all operations related to spectroscopic observing. At the heart of RS are a number of algorithms that first select and center the target star in the field of an imaging camera and then on the spectrograph slit. RS monitors the observatory weather station, and suspends operations and closes the dome when weather conditions warrant, and can reopen and resume observations when the weather improves. RS selects targets from a list using a queue-observing protocol based on observer-assigned priorities, but also uses target-selection criteria based on weather conditions, especially seeing. At the end of the night RS transfers the data files to the main campus, where they are reduced with an automatic pipeline. Our experience has shown that RS is more efficient and consistent than a human observer, and produces data sets that are ideal for automatic reduction. RS should be adaptable for use at other similar observatories, and so we are making the code freely available to the astronomical community.

Fibre positioning algorithms for the WEAVE spectrograph

NASA Astrophysics Data System (ADS)

Terrett, David L.; Lewis, Ian J.; Dalton, Gavin; Abrams, Don Carlos; Aguerri, J. Alfonso L.; Bonifacio, Piercarlo; Middleton, Kevin; Trager, Scott C.

2014-07-01

WEAVE is the next-generation wide-field optical spectroscopy facility for the William Herschel Telescope (WHT) in La Palma, Canary Islands, Spain. It is a multi-object "pick and place" fibre fed spectrograph with more than one thousand fibres, similar in concept to the Australian Astronomical Observatory's 2dF1 instrument with two observing plates, one of which is observing the sky while other is being reconfigured by a robotic fibre positioner. It will be capable of acquiring more than 10000 star or galaxy spectra a night. The WEAVE positioner concept uses two robots working in tandem in order to reconfigure a fully populated field within the expected 1 hour dwell-time for the instrument (a good match between the required exposure times and the limit of validity for a given configuration due to the effects of differential refraction). This presents additional constraints and complications for the software that determines the optimal path from one configuration to the next, particularly given the large number of fibre crossings implied by the 1000 fibre multiplex. This paper describes the algorithms and programming techniques used in the prototype implementations of the field configuration tool and the fibre positioner robot controller developed to support the detailed design of WEAVE.

Maryalnd House enironment & Transportation Committee Visit

NASA Image and Video Library

2016-11-15

Center Director Chris Scolese welcomed the Maryland House Enironment & Tranportation Committee to Goddard on November 15, 2016. The group visiited the James Webb Space Telescope JWST and saw the mirrors open, then they toured the Robotics Operations Facility.

Maryland House Environment & Transportation Committee Visit

NASA Image and Video Library

2016-11-15

Center Director Chris Scolese welcomed the Maryland House Environment & Transportation Committee to Goddard on November 15, 2016. The group visited the James Webb Space Telescope JWST and saw the mirrors open, then they toured the Robotic Operations Center - ROC.

Classification of ASASSN-17em/AT2017cts

NASA Astrophysics Data System (ADS)

Bersier, David

2017-04-01

We obtained a spectrum of the candidate supernova ASASSN-17em/AT2017cts (ATEL #10241), using the SPRAT spectrograph mounted on the robotic 2m Liverpool Telescope at the Roque de los Muchachos observatory (La Palma).

GSFC_20161209_2017-1682_018

NASA Image and Video Library

2016-12-09

Representative Ted Yoho (R-FL) and staff visited Goddard on Dec 9, 2016 via invitaition from Center Director Chris Scolese. District staff was updated on current work at Goddard and toured Hyperwall, James Webb Space Telescope, and Robotic Operaitons Center.

GSFC_20161209_2017-1682_028

NASA Image and Video Library

2016-12-09

Representative Ted Yoho (R-FL) and staff visited Goddard on Dec 9, 2016 via invitation from Center Director Chris Scolese. District staff was updated on current work at Goddard and toured Hyperwall, James Webb Space Telescope, and Robotic Operations Center.

GSFC_20161209_2017-1682_032

NASA Image and Video Library

2016-12-09

Reprresentative Ted Yoho (R-FL) and staff visited Goddard on Dec 9, 2016 via invitation from Center Director Chris Scolese. District staff was updated on current work at Goddard and toured Hyperwall, James Webb Space Telescope and Robotic Operations Center.

STS-109 Onboard Photo of Extra-Vehicular Activity (EVA)

NASA Technical Reports Server (NTRS)

2002-01-01

This is an onboard photo of the Hubble Space Telescope (HST) power control unit (PCU), the heart of the HST's power system. STS-109 payload commander John M. Grunsfeld, joined by Astronaut Richard M. Lirnehan, turned off the telescope in order to replace its PCU while participating in the third of five spacewalks dedicated to servicing and upgrading the HST. Other upgrades performed were: replacement of the solar array panels; replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-Object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where crew members completed the system upgrades. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. Launched March 1, 2002 the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

Space Shuttle Projects

NASA Image and Video Library

2002-03-01

This is an onboard photo of the Hubble Space Telescope (HST) power control unit (PCU), the heart of the HST's power system. STS-109 payload commander John M. Grunsfeld, joined by Astronaut Richard M. Lirnehan, turned off the telescope in order to replace its PCU while participating in the third of five spacewalks dedicated to servicing and upgrading the HST. Other upgrades performed were: replacement of the solar array panels; replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-Object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where crew members completed the system upgrades. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. Launched March 1, 2002 the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

Time to Revisit the Heterogeneous Telescope Network

NASA Astrophysics Data System (ADS)

Hessman, F. V.

The "Heterogeneous Telescope Network" (HTN) was founded in 2005 as a loose collaboration of people somehow associated with robotic telescopes and/or projects interested in the transient universe. Other than being a very interesting forum for the exchange of ideas, the only lasting contribution of the HTN was a proposed protocol for the operation of a loose e-market for the exchange of telescope time (Allan et al. 2006; White & Allan 2007). Since the last formal meeting in 2007, the HTN has gone into a "Dornröschenschlaf" (a better word than "hibernation") : the players and interest are there, but the public visibility and activity is not. Although the participants knew and know that global networking is the way of the future for many types of science, various things have kept the HTN from taking the idea and actually implementing it: work on simply getting one's own system to work (e.g. myself), career paths of major players (e.g. Allan), dealing with the complexity of ones' own network (TALONS, RoboNet, LCO), and - most importantly - no common science driver big enough to push the participants to try it in earnest. Things have changed, however: robotic telescopes have become easier to create and operate, private networks have matured, large-scale consortia have become more common, event reporting using VOEvent has become the global standard and has a well-defined infrastructure, and large-scale sources of new objects and events are operating or will soon be operating (OGLE, CSS, Pan-STARRs, GAIA). I will review the scientific and sociological prospects for re-invigorating the HTN idea and invite discussion.

Robotic telescopes for education and public outreach the TAROT Experience

NASA Astrophysics Data System (ADS)

Boer, M.; Melchior, A. L.; Mottez, F.; Pennypaker, C.

The Rapid Action Telescope for Transient Objects (TAROT - Télescope à Action Rapide pour les Objets Transitoires) has been used over the past years as a support tool for the teaching of astronomy and physics within the framework of the Hand-On Universe program. TAROT is a fully autonomous 25cm telescope located at the Calern station of the Observatoire de la Côte d'Azur in France. Since its primary objective is the detection of the optical counterpart of cosmic gamma-ray bursts (GRBs), it features a very rapid (up to 80 deg./sec.) mount, and a wide field of view (2 deg.). Because the occurrence of GRBs is rather low, TAROT is used for other studies, including variable stars and orbital debris. For Education and Public Outreach, TAROT may be used in two ways. 1) full control of the telescope can be taken through a web interface, including the remote monitoring of housekeeping, weather conditions, control of auxiliary equipment (lamps, temperature setting...) and direct viewing of the telescope and of its surroundings; 2) a powerful web interface allows to send requests for observations; this enable efficient scheduling of the telescope and observation of sources in optimal conditions, including for repeated observations of the same location, e.g. for variable stars. As soon as the 2k x 2k images are taken, they are processed, background searches for variability are made, and the data is available through a web interface. All these products may be used or viewed even with a 56kbps modem connection. Getting the FITS files (instead of jpeg) requires however a rapid connection, e.g. an ADSL. TAROT allows both for direct demonstrations of the possibilities of remote controlled instruments, for the simultaneous monitoring of sources from the ground and space, and for the long term studies in the framework of a scientific project. As an example, the study of orbital debris may be an introduction to an actual problem for space policy and an explanation of the gravitation law. Whenever possible (depending on the availability of INTERNET connection), a live presentation of what is achievable with TAROT will be performed.

Automated telescope for variability studies

NASA Astrophysics Data System (ADS)

Ganesh, S.; Baliyan, K. S.; Chandra, S.; Joshi, U. C.; Kalyaan, A.; Mathur, S. N.

PRL has installed a 50 cm telescope at Mt Abu, Gurushikhar. The backend instrument consists of a 1K × 1K EMCCD camera with standard UBVRI filters and also has polarization measurement capability using a second filter wheel with polaroid sheets oriented at different position angles. This 50 cm telescope observatory is operated in a robotic mode with different methods of scheduling of the objects being observed. This includes batch mode, fully manual as well as fully autonomous mode of operation. Linux based command line as well as GUI software are used entirely in this observatory. This talk will present the details of the telescope and associated instruments and auxiliary facilities for weather monitoring that were developed in house to ensure the safe and reliable operation of the telescope. The facility has been in use for a couple of years now and various objects have been observed. Some of the interesting results will also be presented.

Mongolian-Russian cooperation at the Khureltogoot observatory in the ISON project framework

NASA Astrophysics Data System (ADS)

Tungalag, Namkhai; Rentsenmyagmar, Buyankhishig; Turmunkh, Bayarbat; Tsogt-Ochir, Shijirbayar; Molotov, Igor; Voropaev, Viktor; Kouprianov, Vladimir; Krugly, Yury; Schmalz, Sergey; Pozanenko, Aleksey

2014-09-01

Since autumn 2012, the Research Center of Astronomy and Geophysics, Academy of Sciences of Mongolia, in collaboration with the International Scientific Optical Network (ISON) coordinated by the Keldysh Institute for Applied Mathematics (KIAM), Russian Academy of Sciences, have conducted a large number of astronomical observations of space debris, asteroids, and the optical afterglows of gamma-ray bursts (GRBs) at the new facility of the Khureltogoot observatory near Ulaanbaatar. To the date, ISON joins 35 observation facilities with 80 telescopes of apertures from 12.5 cm to 2.6 m in 15 countries and carries out research on space debris, asteroids, and GRBs. 8.4 million measurements in 1.21 million tracklets of about 4000 Earth-orbiting objects were collected by the ISON network in 2013. It is planned that a part of the orbital data will be accessible via a UN-hosted web page in 2014. A new pavilion was built at Khureltogoot during 2012 to initiate collaboration with ISON. Since November 2012, observations began with the VT-78a 19.2 cm telescopes, with a field of view of 7×7 degrees on a robotic WS-180 mount. The telescope is controlled by the CHAOS TCS software; CCD image processing is done using the APEX II software platform developed within the ISON project. This telescope provides extended surveys of a visible part of the geostationary ring from 0 to 20 degrees inclination, with up to 15 thousand measurements of 500 to 700 objects per night. The limiting magnitude is 14 mag for 10 s exposure time, while the time span of individual tracklets is up to several hours. These surveys help KIAM to increase the accuracy of geostationary Earth-orbit (GEO) object orbits for conjunction analysis, to detect maneuvers of active satellites, and to assist in maintaining the orbits of GEO objects in clusters. Moreover, many HEO objects are detected as a by-product. Since November 2013, a new 40 cm telescope, ORI-40 with the field of view of 2.3×2.3 degrees on a robotic WS-240 mount, has been commissioned to provide dedicated observations of faint space debris fragments. The limiting magnitude is 16.5 mag for 10 s exposure time.

Space Shuttle Projects

NASA Image and Video Library

2002-03-03

The Hubble Space Telescope (HST), with its normal routine temporarily interrupted, is about to be captured by the Space Shuttle Columbia prior to a week of servicing and upgrading by the STS-109 crew. The telescope was captured by the shuttle's Remote Manipulator System (RMS) robotic arm and secured on a work stand in Columbia's payload bay where 4 of the 7-member crew performed 5 space walks completing system upgrades to the HST. Included in those upgrades were: The replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. Launched March 1, 2002, the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

An Ontology for State Analysis: Formalizing the Mapping to SysML

NASA Technical Reports Server (NTRS)

Wagner, David A.; Bennett, Matthew B.; Karban, Robert; Rouquette, Nicolas; Jenkins, Steven; Ingham, Michel

2012-01-01

State Analysis is a methodology developed over the last decade for architecting, designing and documenting complex control systems. Although it was originally conceived for designing robotic spacecraft, recent applications include the design of control systems for large ground-based telescopes. The European Southern Observatory (ESO) began a project to design the European Extremely Large Telescope (E-ELT), which will require coordinated control of over a thousand articulated mirror segments. The designers are using State Analysis as a methodology and the Systems Modeling Language (SysML) as a modeling and documentation language in this task. To effectively apply the State Analysis methodology in this context it became necessary to provide ontological definitions of the concepts and relations in State Analysis and greater flexibility through a mapping of State Analysis into a practical extension of SysML. The ontology provides the formal basis for verifying compliance with State Analysis semantics including architectural constraints. The SysML extension provides the practical basis for applying the State Analysis methodology with SysML tools. This paper will discuss the method used to develop these formalisms (the ontology), the formalisms themselves, the mapping to SysML and approach to using these formalisms to specify a control system and enforce architectural constraints in a SysML model.

Toward an Autonomous Telescope Network: the TBT Scheduler

NASA Astrophysics Data System (ADS)

Racero, E.; Ibarra, A.; Ocaña, F.; de Lis, S. B.; Ponz, J. D.; Castillo, M.; Sánchez-Portal, M.

2015-09-01

Within the ESA SSA program, it is foreseen to deploy several robotic telescopes to provide surveillance and tracking services for hazardous objects. The TBT project will procure a validation platform for an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor SSA services. In this context, the planning and scheduling of the night consists of two software modules, the TBT Scheduler, that will allow the manual and autonomous planning of the night, and the control of the real-time response of the system, done by the RTS2 internal scheduler. The TBT Scheduler allocates tasks for both telescopes without human intervention. Every night it takes all the inputs needed and prepares the schedule following some predefined rules. The main purpose of the scheduler is the distribution of the time for follow-up of recently discovered targets and surveys. The TBT Scheduler considers the overall performance of the system, and combine follow-up with a priori survey strategies for both kind of objects. The strategy is defined according to the expected combined performance for both systems the upcoming night (weather, sky brightness, object accessibility and priority). Therefore, TBT Scheduler defines the global approach for the network and relies on the RTS2 internal scheduler for the final detailed distribution of tasks at each sensor.

Space Shuttle Projects

NASA Image and Video Library

2002-03-07

STS-109 Astronaut Michael J. Massimino, mission specialist, perched on the Shuttle's robotic arm, is preparing to install the Electronic Support Module (ESM) in the aft shroud of the Hubble Space telescope (HST), with the assistance of astronaut James H. Newman (out of frame). The module will support a new experimental cooling system to be installed during the next day's fifth and final space walk of the mission. That cooling system is designed to bring the telescope's Near-Infrared Camera and Multi Spectrometer (NICMOS) back to life the which had been dormant since January 1999 when its original coolant ran out. The Space Shuttle Columbia STS-109 mission lifted off March 1, 2002 with goals of repairing and upgrading the Hubble Space Telescope (HST). The Marshall Space Flight Center in Huntsville, Alabama had the responsibility for the design, development, and construction of the HST, which is the most powerful and sophisticated telescope ever built. In addition to the installation of the experimental cooling system for the Hubble's Near-Infrared Camera and NICMOS, STS-109 upgrades to the HST included replacement of the solar array panels, replacement of the power control unit (PCU), and replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS). Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 108th flight overall in NASA's Space Shuttle Program.

VizieR Online Data Catalog: R-band light curves of type II supernovae (Rubin+, 2016)

NASA Astrophysics Data System (ADS)

Rubin, A.; Gal-Yam, A.; De Cia, A.; Horesh, A.; Khazov, D.; Ofek, E. O.; Kulkarni, S. R.; Arcavi, I.; Manulis, I.; Yaron, O.; Vreeswijk, P.; Kasliwal, M. M.; Ben-Ami, S.; Perley, D. A.; Cao, Y.; Cenko, S. B.; Rebbapragada, U. D.; Wozniak, P. R.; Filippenko, A. V.; Clubb, K. I.; Nugent, P. E.; Pan, Y.-C.; Badenes, C.; Howell, D. A.; Valenti, S.; Sand, D.; Sollerman, J.; Johansson, J.; Leonard, D. C.; Horst, J. C.; Armen, S. F.; Fedrow, J. M.; Quimby, R. M.; Mazzali, P.; Pian, E.; Sternberg, A.; Matheson, T.; Sullivan, M.; Maguire, K.; Lazarevic, S.

2016-05-01

Our sample consists of 57 SNe from the PTF (Law et al. 2009PASP..121.1395L; Rau et al. 2009PASP..121.1334R) and the intermediate Palomar Transient Factory (iPTF; Kulkarni 2013ATel.4807....1K) surveys. Data were routinely collected by the Palomar 48-inch survey telescope in the Mould R-band. Follow-up observations were conducted mainly with the robotic 60-inch telescope using an SDSS r-band filter, with additional telescopes providing supplementary photometry and spectroscopy (see Gal-Yam et al. 2011, J/ApJ/736/159). The full list of SNe, their coordinates, and classification spectra are presented in Table 1. Most of the spectra were obtained with the Double Spectrograph on the 5m Hale telescope at Palomar Observatory, the Kast spectrograph on the Shane 3m telescope at Lick Observatory, the Low Resolution Imaging Spectrometer (LRIS) on the Keck I 10m telescope, and the DEep Imaging Multi-Object Spectrograph (DEIMOS) on the Keck II 10m telescope. (2 data files).

Space hands-on universe telescope and orbiting wide-angle light-collector telescope to be built on the Japanese experiment module exposure facility of the international space station

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

Takahashi, Y.; Ebisuzaki, T.; Pennypacker, C.

1999-01-01

A concept study to build great observatories on, and deploy from, the ISS is presented. Use of the ISS infra-structure including robotic arms and astronauts{close_quote} EVA would permit a construction of very large optical telescopes. We envisage that the second phase of the ISS after its initial construction can landmark a new era for both ISS and Space Sciences. Ultimately, this study would plan a 10-or 20-meter class space telescope. For its first step, we envisioned an immediate extension of the Exposed Facility of ISS for building a {open_quotes}Work-bench{close_quotes} for this purpose. Initial activities can begin with two modest-sized telescopesmore » soon after the ISS construction. These early missions being studied are space Hands-On Universe Telescope (SHOUT) and Orbiting Wide-angle Light-collector (OWL). SHOUT is a 1-m telescope for science education. It will be built and adjusted on the exposure module of the Japanese Experiment Module (JEM) of the International Space Station by using a robotic arm and the EVA of astronauts. We also seek the possibility to release it from ISS after its perfection on orbit, so that it is free from the vibrations and gas contaminations on and around the ISS. SHOUT is an engineering prototype of 10-m Space Telescope (Space SUBARU Telescope). It would be scaled from the Space-SUBARU telescope so that the testing with the SHOUT would warrant the required specifications for the 10-meter Space-SUBARU construction on the ISS. The goal of the test with the SHOUT is to warrant a spatial resolution of 0.01 arc-seconds using the active/adaptive optics. It will test the following three major engineering challenges: (1) active/adaptive optics in space; (2) building of large structures by astronauts; and (3) release of a spacecraft from ISS to a free-flying orbit. The present feasibility study for the next generation great observatories that are to be built on the JEM Exposure Facility (EF) has been already funded by the Japan Space Forum, under the auspices of the National Space Development Agency (NASDA) of Japan. Included in this study are SHOUT, Space SUBARU telescope as well as OWL, Large Area gamma-ray Telescope (LAGT), and Space Submilimeter and Infrared Telescope (S-SIT). {copyright} {ital 1999 American Institute of Physics.}« less

Miniature Exoplanet Radial Velocity Array (MINERVA) I. Design, Commissioning, and First Science Results

NASA Astrophysics Data System (ADS)

Swift, Jonathan J.; Bottom, Michael; Johnson, John A.; Wright, Jason T.; McCrady, Nate; Wittenmyer, Robert A.; Plavchan, Peter; Riddle, Reed; Muirhead, Philip S.; Herzig, Erich; Myles, Justin; Blake, Cullen H.; Eastman, Jason; Beatty, Thomas G.; Barnes, Stuart I.; Gibson, Steven R.; Lin, Brian; Zhao, Ming; Gardner, Paul; Falco, Emilio; Criswell, Stephen; Nava, Chantanelle; Robinson, Connor; Sliski, David H.; Hedrick, Richard; Ivarsen, Kevin; Hjelstrom, Annie; de Vera, Jon; Szentgyorgyi, Andrew

2015-04-01

The Miniature Exoplanet Radial Velocity Array (MINERVA) is a U.S.-based observational facility dedicated to the discovery and characterization of exoplanets around a nearby sample of bright stars. MINERVA employs a robotic array of four 0.7-m telescopes outfitted for both high-resolution spectroscopy and photometry, and is designed for completely autonomous operation. The primary science program is a dedicated radial velocity survey and the secondary science objective is to obtain high-precision transit light curves. The modular design of the facility and the flexibility of our hardware allows for both science programs to be pursued simultaneously, while the robotic control software provides a robust and efficient means to carry out nightly observations. We describe the design of MINERVA, including major hardware components, software, and science goals. The telescopes and photometry cameras are characterized at our test facility on the Caltech campus in Pasadena, California, and their on-sky performance is validated. The design and simulated performance of the spectrograph is briefly discussed as we await its completion. New observations from our test facility demonstrate sub-mmag photometric precision of one of our radial velocity survey targets, and we present new transit observations and fits of WASP-52b-a known hot-Jupiter with an inflated radius and misaligned orbit. The process of relocating the MINERVA hardware to its final destination at the Fred Lawrence Whipple Observatory in southern Arizona has begun, and science operations are expected to commence in 2015.

Advantages of a Lunar Cryogenic Astronomical Observatory

NASA Astrophysics Data System (ADS)

Burke, James; Kaltenegger, Lisa

2017-04-01

ESA and collaborating agencies are preparing to establish a Moon Village at a south polar site. Robotic precursor missions will include resource prospecting in permanently shadowed cold traps. The environment there is favorable for infrared and millimeter-wave astronomy. In this paper we examine the evolutionary development of a cryogenic observatory, beginning with small telescopes robotically installed and operated in conjunction with prospecting precursor missions, and continuing into later phases supported from the Moon Village. Relay communications into and out of the cold traps may be shared or else provided by dedicated links. Candidate locations can be selected with the help of data from the Lunar Reconnaissance Orbiter. The first telescope will be primarily a proof-of-concept demonstrator but it can have scientific and applications uses too, supplementing other space-based survey instruments observing astrophysical objects and potentially hazardous asteroids and comets. A south polar site sees only half or the sky but that half includes the galactic center and many other interesting targets. The telescopes can stare at any object for as long as desired, providing monitoring capabilities for transiting or radial velocity planet searches, like NASA's TESS mission. In addition such telescopes are opening the prospect of gathering spectroscopic data on exoplanet atmospheres and cool stars - from UV information to assess the activity of a star to VIS to IR spectral data of the atmosphere and even atmospheric biosignatures. Preliminary design of the first telescope might be funded under a NASA call for lunar science payload concepts. An important additional product can be educational and outreach uses of the observatory, especially for the benefit of people in the developing world who can do southern hemisphere follow-up observations.

International heliophysical year and basic space science in West Asia

NASA Astrophysics Data System (ADS)

Al-Naimiy, Hamid M. K.

2007-12-01

This paper summarizes the IHY and BSS activities in West Asia and their importance in many Arab countries, such as Algeria, Egypt, Iraq, Jordan, Kuwait, Qatar, Saudi Arabia, UAE, etc. BSS future plans for some of these countries are as follows: It is proposed by the astronomers from the Arabian Gulf Region to build the Gulf Observatory on top of Jabal Shams (2980 msl) which will have a 2-3 m optical telescope. Libya signed a contract with a French company for building an observatory which will have a 2-m optical robotic telescope. It is also proposed to rebuild the Iraqi National Astronomical Observatory (INAO) which was destroyed during the two wars. It is planned to build a 5-6 m optical telescope and a small solar telescope on the top of Korek mountain, which has excellent observing conditions.

Robotic Software for the Thacher Observatory

NASA Astrophysics Data System (ADS)

Lawrence, George; Luebbers, Julien; Eastman, Jason D.; Johnson, John A.; Swift, Jonathan

2018-06-01

The Thacher Observatory—a research and educational facility located in Ojai, CA—uses a 0.7 meter telescope to conduct photometric research on a variety of targets including eclipsing binaries, exoplanet transits, and supernovae. Currently, observations are automated using commercial software. In order to expand the flexibility for specialized scientific observations and to increase the educational value of the facility on campus, we are adapting and implementing the custom observatory control software and queue scheduling developed for the Miniature Exoplanet Radial Velocity Array (MINERVA) to the Thacher Observatory. We present the design and implementation of this new software as well as its demonstrated functionality on the Thacher Observatory.

Welcome to Outer Space

NASA Technical Reports Server (NTRS)

1999-01-01

This video gives a brief history of the Jet Propulsion Laboratory, current missions and what the future may hold. Scenes includes various planets in the solar system, robotic exploration of space, discussions on the Hubble Space Telescope, the source of life, and solar winds. This video was narrated by Jodie Foster. Animations include: close-up image of the Moon; close-up images of the surface of Mars; robotic exploration of Mars; the first mapping assignment of Mars; animated views of Jupiter; animated views of Saturn; and views of a Giant Storm on Neptune called the Great Dark Spot.

The First U.S. Naval Observatory Robotic Astrometric Telescope Catalog

DTIC Science & Technology

2015-10-01

in the “info” folder. URAT1 covers almost the entire northern sky and most of the area δ �−15°, plus the far south area around Pluto . 2.3. Robotic...meeting acceptable quality standards. A total of 14 and 12 exposures of the Pluto field area taken on 2013 September 19 and 2014 September 06...for our project. 2MASS was used for near-IR photometry and as the first epoch of URAT1 proper motions. Bill Gray (Project Pluto ) is thanked for making

Safety Ellipse Motion with Coarse Sun Angle Optimization

NASA Technical Reports Server (NTRS)

Naasz, Bo

2005-01-01

The Hubble Space Telescope Robotic Servicing and De-orbit Mission (HRSDM) was t o be performed by the unmanned Hubble Robotic Vehicle (HRV) consisting of a Deorbit Module (DM), responsible for the ultimate disposal of Hubble Space Telescope (HST) at the end of science operations, and an Ejection Module (EM), responsible for robotically servicing the HST to extend its useful operational lifetime. HRSDM consisted of eight distinct phases, including: launch, pursuit, proximity operations, capture, servicing, EM jettison and disposal, science operations, and deorbit. The scope of this paper is limited to the Proximity Operations phase of HRSDM. It introduces a relative motion strategy useful for Autonomous Rendezvous and Docking (AR&D) or Formation Flying missions where safe circumnavigation trajectories, or close proximity operations (tens or hundreds of meters) are required for extended periods of time. Parameters and algorithms used to model the relative motion of HRV with respect to HST during the Proximity Operations phase of the HRSDM are described. Specifically, the Safety Ellipse (SE) concept, convenient parameters for describing SE motion, and a concept for initializing SE motion around a target vehicle to coarsely optimize sun and relative navigation sensor angles are presented. The effects of solar incidence angle variations on sun angle optimization, and the effects of orbital perturbations and navigation uncertainty on long term SE motion are discussed.

Telescope Fabra ROA Montsec: A New Robotic Wide Field Baker-Nunn Facility

NASA Astrophysics Data System (ADS)

Fors, Octavi; Núñez, Jorge; Muiños, José Luis; Montojo, Francisco Javier; Baena-Gallé, Roberto; Boloix, Jaime; Morcillo, Ricardo; Merino, María Teresa; Downey, Elwood C.; Mazur, Michael J.

2013-05-01

A Baker-Nunn Camera (BNC), originally installed at the Real Instituto y Observatorio de la Armada (ROA) in 1958, was refurbished and robotized. The new facility, called Telescope Fabra ROA Montsec (TFRM), was installed at the Observatori Astronòmic del Montsec (OAdM). The process of refurbishment is described in detail. Most of the steps of the refurbishment project were accomplished by purchasing commercial components, which involve little posterior engineering assembling work. The TFRM is a 0.5 m aperture f/0.96 optically modified BNC, which offers a unique combination of instrumental specifications: fully robotic and remote operation, wide field of view (4°.4 × 4°.4), moderate limiting magnitude (V ˜ 19.5 mag), ability of tracking at arbitrary right ascension (α) and declination (δ) rates, as well as opening and closing CCD shutter at will during an exposure. Nearly all kinds of image survey programs can benefit from those specifications. Apart from other less time-consuming programs, since the beginning of science TFRM operations we have been conducting two specific and distinct surveys: super-Earths transiting around M-type dwarfs stars, and geostationary debris in the context of Space Situational Awareness/Space Surveillance and Tracking (SSA/SST) programs. Preliminary results for both cases will be shown.

Space Shuttle Projects

NASA Image and Video Library

2001-08-01

This is the insignia of the STS-109 Space Shuttle mission. Carrying a crew of seven, the Space Shuttle Orbiter Columbia was launched with goals of maintenance and upgrades to the Hubble Space Telescope (HST). The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. The HST views galaxies, stars, planets, comets, possibly other solar systems, and even unusual phenomena such as quasars, with 10 times the clarity of ground-based telescopes. During the STS-109 mission, the telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm where four members of the crew performed five spacewalks completing system upgrades to the HST. Included in those upgrades were: The replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when it original coolant ran out. Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 27th flight of the Orbiter Columbia and the 108th flight overall in NASA's Space Shuttle Program.

Space Shuttle Projects

NASA Image and Video Library

2002-03-03

This is a photo of the Hubble Space Telescope (HST),in its origianl configuration, berthed in the cargo bay of the Space Shuttle Columbia during the STS-109 mission silhouetted against the airglow of the Earth's horizon. The telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm, where 4 of the 7-member crew performed 5 spacewalks completing system upgrades to the HST. Included in those upgrades were: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. The HST views galaxies, stars, planets, comets, possibly other solar systems, and even unusual phenomena such as quasars, with 10 times the clarity of ground-based telescopes. Launched March 1, 2002 the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

The TJO-OAdM Robotic Observatory: the scheduler

NASA Astrophysics Data System (ADS)

Colomé, Josep; Casteels, Kevin; Ribas, Ignasi; Francisco, Xavier

2010-07-01

The Joan Oró Telescope at the Montsec Astronomical Observatory (TJO - OAdM) is a small-class observatory working under completely unattended control, due to the isolation of the site. Robotic operation is mandatory for its routine use. The level of robotization of an observatory is given by its reliability in responding to environment changes and by the required human interaction due to possible alarms. These two points establish a level of human attendance to ensure low risk at any time. But there is another key point when deciding how the system performs as a robot: the capability to adapt the scheduled observation to actual conditions. The scheduler represents a fundamental element to fully achieve an intelligent response at any time. Its main task is the mid- and short-term time optimization and it has a direct effect on the scientific return achieved by the observatory. We present a description of the scheduler developed for the TJO - OAdM, which is separated in two parts. Firstly, a pre-scheduler that makes a temporary selection of objects from the available projects according to their possibility of observation. This process is carried out before the beginning of the night following different selection criteria. Secondly, a dynamic scheduler that is executed any time a target observation is complete and a new one must be scheduled. The latter enables the selection of the best target in real time according to actual environment conditions and the set of priorities.

Building large telescopes in orbit using small satellites

NASA Astrophysics Data System (ADS)

Saunders, Chris; Lobb, Dan; Sweeting, Martin; Gao, Yang

2017-12-01

In many types of space mission there is a constant desire for larger and larger instrument apertures, primarily for the purposes of increased resolution or sensitivity. In the Radio Frequency domain, this is currently addressed by antennas that unfold or deploy on-orbit. However, in the optical and infrared domains, this is a significantly more challenging problem, and has up to now either been addressed by simply having large monolithic mirrors (which are fundamentally limited by the volume and mass lifting capacity of any launch vehicle) or by complex 'semi-folding' designs such as the James Webb Space Telescope. An alternative is to consider a fractionated instrument which is launched as a collection of individual smaller elements which are then assembled (or self-assemble) once in space, to form a much larger overall instrument. SSTL has been performing early concept assessment work on such systems for high resolution science observations from high orbits (potentially also for persistent surveillance of Earth). A point design of a 25 m sparse aperture (annular ring) telescope is presented. Key characteristics of 1) multiple small elements launched separately and 2) on-orbit assembly to form a larger instrument are included in the architecture. However, on-orbit assembly brings its own challenges in terms of guidance navigation and control, robotics, docking mechanisms, system control and data handling, optical alignment and stability, and many other elements. The number and type of launchers used, and the technologies and systems used heavily affect the outcome and general cost of the telescope. The paper describes one of the fractionated architecture concepts currently being studied by SSTL, including the key technologies and operational concepts that may be possible in the future.

Pro-am collaborations with the Faulkes Telescopes, and the benefit to education, science and outreach awareness

NASA Astrophysics Data System (ADS)

Howes, N.; Miles, R.; Roche, P.

2013-09-01

The Faulkes Telescope Project is an educational and research arm of the Las Cumbres Observatory Global Telescope Network (LCOGTN). It has two 2-metre robotic telescopes, located at Haleakala on Maui (FT North) and Siding Spring in Australia (FT South). It is planned for these telescopes to be complemented by a research network of multiple 1-metre telescopes, along with an educational network of multiple 0.4-metre telescopes, providing 24-hour coverage of both northern and southern hemispheres. The telescope network is unique in that it provides school students with access to research grade instrumentation in the United Kingdom and several other countries across Europe as well as in Hawaii. Over the past few years, amateur astronomers have increasingly been working with schools suggesting projects which have provided valuable scientific input to professional astronomers. This poster aims to present several of the key results and observations where professional astronomers have cited and used this data obtained with the Faulkes Telescope, notably - Observations and results from the global campaign on Comet C/2007 Q3 ; Ref.[2] - Observations of the fragmentation of Comet 168P; Ref.[3] - Observations relating to the evolution of Comet C/2012 S1; Ref.[4] - Observations and imaging of the Jupiter-family comet, P/2010 TO20; Ref.[5

FLOYDS Classification of DLT17u/AT 2017cbv as a Very Young Type Ia Supernova

NASA Astrophysics Data System (ADS)

Hosseinzadeh, G.; Howell, D. A.; Sand, D.; Valenti, S.; Tartaglia, L.; McCully, C.; Bostroem, K. A.; Wyatt, S.; Arcavi, I.

2017-03-01

We obtained a spectrum of DLT17u/AT 2017cbv on 2017 March 10.7 UT (ATel #10158) with the robotic FLOYDS instrument mounted on the Las Cumbres Observatory 2-meter telescope in Siding Spring, Australia.

Image processing improvement for optical observations of space debris with the TAROT telescopes

NASA Astrophysics Data System (ADS)

Thiebaut, C.; Theron, S.; Richard, P.; Blanchet, G.; Klotz, A.; Boër, M.

2016-07-01

CNES is involved in the Inter-Agency Space Debris Coordination Committee (IADC) and is observing space debris with two robotic ground based fully automated telescopes called TAROT and operated by the CNRS. An image processing algorithm devoted to debris detection in geostationary orbit is implemented in the standard pipeline. Nevertheless, this algorithm is unable to deal with debris tracking mode images, this mode being the preferred one for debris detectability. We present an algorithm improvement for this mode and give results in terms of false detection rate.

EVA 4 - Massimino with EMS on RMS arm

NASA Image and Video Library

2002-03-07

STS109-323-035 (7 March 2002) --- Astronaut Michael J. Massimino, on the shuttle’s robotic arm, prepares to install the Electronic Support Module (ESM) in the aft shroud of the Hubble Space Telescope (HST), with the assistance of astronaut James H. Newman (out of frame). The module will support a new experimental cooling system to be installed during the next day's fifth and final scheduled spacewalk of the mission. That cooling system is designed to bring the telescope's Near-Infrared Camera and Multi-Object Spectrometer (NICMOS) back to life.

Nova M33N 2012-10a

NASA Astrophysics Data System (ADS)

Alothman, Nourah

In this thesis I present a study and measurement of a Nova in M33 galaxy type N 2012-10a (which is type of binary star) using data that were collected by the ROTSE IIIb robotic telescope and another observatory. I study the fundamental properties of the light curve and determined the brightness and the velocity of this type of nova. I analyzed the spectra that were measured by the Hobby-Eberly Telescope (HET) at the McDonald Observatory. In addition, I compared this type of nova to other types of Novae.

Calibrating Images from the MINERVA Cameras

NASA Astrophysics Data System (ADS)

Mercedes Colón, Ana

2016-01-01

The MINiature Exoplanet Radial Velocity Array (MINERVA) consists of an array of robotic telescopes located on Mount Hopkins, Arizona with the purpose of performing transit photometry and spectroscopy to find Earth-like planets around Sun-like stars. In order to make photometric observations, it is necessary to perform calibrations on the CCD cameras of the telescopes to take into account possible instrument error on the data. In this project, we developed a pipeline that takes optical images, calibrates them using sky flats, darks, and biases to generate a transit light curve.

Integrating Robotic Observatories into Astronomy Labs

NASA Astrophysics Data System (ADS)

Ruch, Gerald T.

2015-01-01

The University of St. Thomas (UST) and a consortium of five local schools is using the UST Robotic Observatory, housing a 17' telescope, to develop labs and image processing tools that allow easy integration of observational labs into existing introductory astronomy curriculum. Our lab design removes the burden of equipment ownership by sharing access to a common resource and removes the burden of data processing by automating processing tasks that are not relevant to the learning objectives.Each laboratory exercise takes place over two lab periods. During period one, students design and submit observation requests via the lab website. Between periods, the telescope automatically acquires the data and our image processing pipeline produces data ready for student analysis. During period two, the students retrieve their data from the website and perform the analysis. The first lab, 'Weighing Jupiter,' was successfully implemented at UST and several of our partner schools. We are currently developing a second lab to measure the age of and distance to a globular cluster.

First gravitational-wave burst GW150914: MASTER optical follow-up observations

NASA Astrophysics Data System (ADS)

Lipunov, V. M.; Kornilov, V.; Gorbovskoy, E.; Buckley, D. A. H.; Tiurina, N.; Balanutsa, P.; Kuznetsov, A.; Greiner, J.; Vladimirov, V.; Vlasenko, D.; Chazov, V.; Kuvshinov, D.; Gabovich, A.; Potter, S. B.; Kniazev, A.; Crawford, S.; Rebolo Lopez, R.; Serra-Ricart, M.; Israelian, G.; Lodieu, N.; Gress, O.; Budnev, N.; Ivanov, K.; Poleschuk, V.; Yazev, S.; Tlatov, A.; Senik, V.; Yurkov, V.; Dormidontov, D.; Parkhomenko, A.; Sergienko, Yu.; Podesta, R.; Levato, H.; Lopez, C.; Saffe, C.; Podesta, F.; Mallamaci, C.

2017-03-01

The Advanced LIGO observatory recently reported the first direct detection of the gravitational waves (GWs) predicted by Einstein & Sitzungsber. We report on the first optical observations of the GW source GW150914 error region with the Global MASTER Robotic Net. Between the optical telescopes of electromagnetic support, the covered area is dominated by MASTER with an unfiltered magnitude up to 19.9 mag (5σ). We detected several optical transients, which proved to be unconnected with the GW event. The main input to investigate the final error box of GW150914 was made by the MASTER-SAAO robotic telescope, which covered 70 per cent of the final GW error box and 90 per cent of the common localization area of the LIGO and Fermi events. Our result is consistent with the conclusion (Abbott et al. 2016a) that GWs from GW150914 were produced in a binary black hole merger. At the same time, we cannot exclude that MASTER OT J040938.68-541316.9 exploded on 2015 September 14.

The Emerging Infrastructure of Autonomous Astronomy

NASA Astrophysics Data System (ADS)

Seaman, R.; Allan, A.; Axelrod, T.; Cook, K.; White, R.; Williams, R.

2007-10-01

Advances in the understanding of cosmic processes demand that sky transient events be confronted with statistical techniques honed on static phenomena. Time domain data sets require vast surveys such as LSST {http://www.lsst.org/lsst_home.shtml} and Pan-STARRS {http://www.pan-starrs.ifa.hawaii.edu}. A new autonomous infrastructure must close the loop from the scheduling of survey observations, through data archiving and pipeline processing, to the publication of transient event alerts and automated follow-up, and to the easy analysis of resulting data. The IVOA VOEvent {http://voevent.org} working group leads efforts to characterize sky transient alerts published through VOEventNet {http://voeventnet.org}. The Heterogeneous Telescope Networks (HTN {http://www.telescope-networks.org}) consortium are observatories and robotic telescope projects seeking interoperability with a long-term goal of creating an e-market for telescope time. Two projects relying on VOEvent and HTN are eSTAR {http://www.estar.org.uk} and the Thinking Telescope {http://www.thinkingtelescopes.lanl.gov} Project.

Buyer's guide to telescopes at the best sites: Dome A, L2, and Shackleton Rim

NASA Astrophysics Data System (ADS)

Angel, J. Roger P.

2004-10-01

Future optical/infrared telescopes will need to be much larger than today"s, if they are to address such key challenges as direct observations of Earth-like exoplanets and of the first stars formed after the big bang. In this paper I consider the most promising of the new sites, both on the ground and in space, and telescope concepts to take advantage of their complementary scientific potential. Ground based telescopes with adaptive optics will be capable of diffraction limited imaging, down to a short wavelength limit set by the amplitude and speed of the atmospheric turbulence. The best conditions are on the high Antarctic plateau, where recent measurements at Dome C show turbulence typically half the amplitude of the best temperate sites, with temporal evolution at half the speed1. Thus uniquely in Antarctica, diffraction limited imaging at optical wavelengths should be practical. Conditions there are also best for infrared astronomy, given the combination of minimal aberration and winter temperatures averaging as low as 200K at Dome A (the highest point). In space, well away from the warm Earth, conditions are even better, with 24 hour/day observing free from all atmospheric aberration, and the potential for passive cooling to 50K or less by use of a sunshield. L2 and the Moon's south pole are such optimal space locations. A telescope at L2 requires only a little fuel to stay on orbit, and can be accurately pointed despite solar torques by well established active methods based on star trackers, gyros and reaction wheels. By contrast, the Moon provides a completely stable platform where a telescope with no moving parts can remain pointed indefinitely along the spin axis, or a telescope on a hexapod mount can be oriented and tracked by reaction to the turning lunar surface. Solar shielding on the Moon requires a polar location such as the high rim of the Shackleton crater, adjacent to the south pole, where there is also nearly continuous solar power. Long term operation large telescopes in space should be possible at affordable cost if we adopt the strategy used on the ground, where the same telescope OTA and mount is maintained for decades while instruments are periodically upgraded. HST has already shown the power of this modus operandi in space. It makes sense because the optical image quality of any telescope cannot be improved once the diffraction limit is reached, while instruments need to be renewed to keep pace with scientific and technical developments. Thus if future space exploration results in long-term robotic or human infrastructure on the Moon, the Shackleton rim would be favored as an observatory site, especially for ultra-deep optical/infrared surveys. If, on the other hand, exploration is centered a new station in free space, out of the Earth's gravitational potential well, observatories at L2 would be more easily supported. When contrasting the performance of ground and space telescope options, an important trade is larger aperture on Earth versus lower background in space The thermal zodiacal background of space is typically 105 times lower than even the Antarctic background, and the optical scattered starlight background in space is much less, but because of the strong dependence of sensitivity on diameter a 100 m telescope at Dome A or Dome C would have sensitivity and power to study Earth-like planets comparable to that of NASA's proposed TPF coronagraphic and interferometric missions combined. For ultradeep field studies in the infrared, integration time is also important, thus a 20 m fixed telescope on the lunar south pole surveying just the south ecliptic pole region would have nearly 100 times the sensitivity of the JWST at L2. Neither Dome A nor the Moon"s south pole has yet been explored, even robotically. If large telescopes are ever to be built at these optimum sites, smaller precursors must be built first to develop the required technology and to gain experience. On the Moon, a start which would yield already interesting science could be made with a 3-m class, fixed, robotically-deployed survey telescope. On the Antarctic plateau, a 20 m copy of the Giant Magellan Telescope3,4 would be a good scientific and technological precursor to a 100 m telescope in Antarctica.

Design Development of a Combined Deployment and Pointing System for the International Space Station Neutron Star Interior Composition Explorer Telescope

NASA Technical Reports Server (NTRS)

Budinoff, Jason; Gendreau, Keith; Arzoumanian, Zaven; Baker, Charles; Berning, Robert; Colangelo, Todd; Holzinger, John; Lewis, Jesse; Liu, Alice; Mitchell, Alissa;

Design Development of a Combined Deployment and Pointing System for the International Space Station Neutron Star Interior Composition Explorer Telescope

NASA Technical Reports Server (NTRS)

Budinoff, Jason; Gendreau, Keith; Arzoumanian, Zaven; Baker, Charles; Berning, Robert; Colangelo, TOdd; Holzinger, John; Lewis, Jesse; Liu, Alice; Mitchell, Alissa;

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.

The Universe Observing Center a modern center to teach and communicate astronomy

NASA Astrophysics Data System (ADS)

Ribas, Salvador J.

2011-06-01

The Universe Observing Center is one of the parts of the Parc Astronòmic Montsec (PAM). PAM is an initiative of the Catalan government, through the Consorci del Montsec (Montsec Consortium), to take advantage of the capabilities and potential of the Montsec region to develop scientific research, training and outreach activities, particularly in the field of Astronomy. The choice of the Montsec mountains to install the PAM was motivated by the magnificent conditions for observing the sky at night; the sky above Montsec is the best (natural sky free of light pollution) in Catalonia for astronomical observations. The PAM has two main parts: the Observatori Astronòmic del Montsec (OAdM) and the Universe Observing Center (COU). The OAdM is a professional observatory with an 80-cm catadioptric telescope (Joan Oró Telescope). This telescope is a robotic telescope that can be controlled from anywhere in the world via the Internet. The COU is a large multipurpose center which is intended to become an educational benchmark for teaching and communicate astronomy and other sciences in Catalonia. The management of the COU has three main goals: 1) Teach primary and secondary school students in our Educational Training Camp. 2) Teach university students housing the practical astronomy lectures of the universities. 3) Communicate astronomy to the general public. The COU comprises special areas for these purposes: the Telescopes Park with more than 20 telescopes, a coelostat for solar observations and two dome containing full-automated telescopes. The most special equipment is ``The Eye of Montsec'', with its 12m dome containing a multimedia digital planetarium and a platform for direct observation of the sky and the environment. During 2009 we expect around 10000 visitors in Montsec area to enjoy science with Montsec dark skies and an special natural environment.

Global TIE: Developing a Virtual Network of Robotic Observatories for K-12 Education

NASA Astrophysics Data System (ADS)

Mayo, L. A.; Clark, G.

2001-11-01

Astronomy in grades K-12 is traditionally taught (if at all) using textbooks and a few simple hands-on activities. In addition, most students, by High School graduation, will never have even looked through the eyepiece of a telescope. The possibility now exists to establish a network of research grade telescopes, no longer useful to the professional astronomical community, that can be made accessible to schools all across the country through existing IT technologies and applications. These telescopes could provide unparalleled research and educational opportunities for a broad spectrum of K-12 and college students and turns underutilized observatory facilities into valuable, state-of-the-art teaching centers. The NASA-sponsored Telescopes In Education (TIE, http://tie.jpl.nasa.gov) project has been wildly successful in engaging the K-12 education community in real-time, hands-on, interactive astronomy activities. Hundreds of schools in the US, Australia, Canada, England, and Japan have participated in the TIE program, remotely controlling the 24-inch telescope at the Mount Wilson Observatory from their classrooms. In recent years, several (approximately 20 to date) other telescopes have been, or are in the process of being, outfitted for remote use as TIE affiliates. Global TIE integrates these telescopes seamlessly into one virtual observatory and provides the services required to operate this facility, including a scheduling service, tools for data manipulation, an online proposal review environment, an online "Virtual TIE Student Ap J" for publication of results, and access to related educational materials provided by the TIE community. Global TIE provides unparalleled research and educational opportunities for a broad spectrum of K-12 and college students and turns essentially unused observatory facilities into valuable, state-of-the-art teaching centers. This presentation describes the Global TIE Observatory data and organizational systems and details the technology, partnerships, operational capabilities, science applications, and learning opportunities that this powerful virtual observatory network will provide.

CHARACTERIZATION OF CoRoT TARGET FIELDS WITH BERLIN EXOPLANET SEARCH TELESCOPE. II. IDENTIFICATION OF PERIODIC VARIABLE STARS IN THE LRc2 FIELD

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

Kabath, P.; Fruth, T.; Rauer, H.

2009-04-15

We report on photometric observations of the CoRoT LRc2 field with the new robotic Berlin Exoplanet Search Telescope II (BEST II). The telescope system was installed and commissioned at the Observatorio Cerro Armazones, Chile, in 2007. BEST II is a small aperture telescope with a wide field of view dedicated to the characterization of the stellar variability primarily in CoRoT target fields with high stellar densities. The CoRoT stellar field LRc2 was observed with BEST II up to 20 nights in 2007 July and August. From the acquired data containing about 100,000 stars, 426 new periodic variable stars were identifiedmore » and 90% of them are located within the CoRoT exoplanetary CCD segments and may be of further interest for CoRoT additional science programs.« less

KELT-FUN and the discovery of KELT-18b

NASA Astrophysics Data System (ADS)

McLeod, Kim K.; Melton, Casey; Stassun, Keivan G.; KELT Collaboration

2017-01-01

The Kilodegree Extremely Little Telescope (KELT) project is a ground-based, wide-field, synoptic sky survey whose primary goal is to discover exoplanets around bright (8 < V < 11) host stars. KELT photometric observations are carried out using two small robotic telescopes: KELT-North in Arizona, operating since 2005; and KELT-South in South Africa, operating since 2009. Once a transit candidate is identified by the survey telescopes, KELT relies on its Follow Up Network (KELT-FUN) of observatories to vet and characterize the systems by obtaining more precise light curves and radial-velocities. KELT-FUN now includes nearly 50 telescopes around the world and the photometric follow-up is carried out by a diverse set of partners at universities, small colleges, high schools, and private amateur facilities, often with the help of students. We describe KELT-FUN operations and announce the discovery of KELT-18b, a strongly-irradiated hot Jupiter orbiting a mid-F star.

VizieR Online Data Catalog: Parallaxes for 1507 nearby mid-to-late M dwarfs (Dittmann+, 2014)

NASA Astrophysics Data System (ADS)

Dittmann, J. A.; Irwin, J. M.; Charbonneau, D.; Berta-Thompson, Z. K.

2016-08-01

The MEarth Observatory is an array consisting of eight identical f/9 40cm Ritchey-Chretien telescopes on German equatorial mounts at the Fred Lawrence Whipple Observatory on Mount Hopkins, Arizona. The telescopes are controlled robotically and collect data every clear night from September through July. The facility is closed every August for the summer monsoons. Each telescope contains a 2048*2048 pixel CCD with a pixel scale of ~0.76/pixel and a Schott RG715 glass filter with anti-reflection coating. The cutoff is defined by the CCD response, and the effective bandpass is similar to the union of the Sloan Digital Sky Survey i and z filters. The MEarth target list consists of ~1800 nearby M dwarfs selected from Lepine 2005 (cat. J/AJ/130/1680), a subset of the LSPM-North catalog (Lepine & Shara 2005, cat. I/298) believed to be within 33pc of the Sun. The subset of the MEarth sample presented here includes 1507 mid-to-late M dwarfs (see Table2) for which we can obtain reliable results. Of the 1507 stars, 1267 had no previous trigonometric parallax measurement. The data presented here covers the time period from 2008 September through 2013 July. (1 data file).

INL Multi-Robot Control Interface

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

2005-03-30

The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

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.

Serial robot for the trajectory optimization and error compensation of TMT mask exchange system

NASA Astrophysics Data System (ADS)

Wang, Jianping; Zhang, Feifan; Zhou, Zengxiang; Zhai, Chao

2015-10-01

Mask exchange system is the main part of Multi-Object Broadband Imaging Echellette (MOBIE) on the Thirty Meter Telescope (TMT). According to the conception of the TMT mask exchange system, the pre-design was introduced in the paper which was based on IRB 140 robot. The stiffness model of IRB 140 in SolidWorks was analyzed under different gravity vectors for further error compensation. In order to find the right location and path planning, the robot and the mask cassette model was imported into MOBIE model to perform different schemes simulation. And obtained the initial installation position and routing. Based on these initial parameters, IRB 140 robot was operated to simulate the path and estimate the mask exchange time. Meanwhile, MATLAB and ADAMS software were used to perform simulation analysis and optimize the route to acquire the kinematics parameters and compare with the experiment results. After simulation and experimental research mentioned in the paper, the theoretical reference was acquired which could high efficient improve the structure of the mask exchange system parameters optimization of the path and precision of the robot position.

Capabilities Roadmap Briefings to the National Research Council

NASA Technical Reports Server (NTRS)

2005-01-01

High energy power and propulsion capability roadmap - general background and introduction. Advanced telescopes and observatories and scientific instruments and sensors capability roadmaps - general background and introduction. Space communications capability roadmap interim review. Robotic access to planetary surface capability roadmap. Human health and support systems capability roadmap progress review.

Assembling, maintaining and servicing Space Station

NASA Technical Reports Server (NTRS)

Doetsch, K. H.; Werstiuk, H.; Creasy, W.; Browning, R.

1987-01-01

The assembly, maintenance, and servicing of the Space Station and its facilities are discussed. The tools and facilities required for the assembly, maintenance, and servicing of the Station are described; the ground and transportation infrastructures needed for the Space Station are examined. The roles of automation and robotics in reducing the EVAs of the crew, minimizing disturbances to the Space Station environment, and enhancing user friendliness are investigated. Servicing/maintenance tasks are categorized based on: (1) urgency, (2) location of servicing/maintenance, (3) environmental control, (4) dexterity, (5) transportation, (6) crew interactions, (7) equipment interactions, and (8) Space Station servicing architecture. An example of a servicing mission by the Space Station for the Hubble Space Telescope is presented.

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2006-01-01

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station

NASA Technical Reports Server (NTRS)

Bualat, Maria; Schreckenghost, Debra; Pacis, Estrellina; Fong, Terrence; Kalar, Donald; Beutter, Brent

2014-01-01

During Summer 2013, the Intelligent Robotics Group at NASA Ames Research Center conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed lunar mission, in which an astronaut in lunar orbit would remotely operate a planetary rover to deploy a radio telescope on the lunar far side. Over the course of Expedition 36, three ISS astronauts remotely operated the NASA "K10" planetary rover in an analogue lunar terrain located at the NASA Ames Research Center in California. The astronauts used a "Space Station Computer" (crew laptop), a combination of supervisory control (command sequencing) and manual control (discrete commanding), and Ku-band data communications to command and monitor K10 for 11 hours. In this paper, we present and analyze test results, summarize user feedback, and describe directions for future research.

Space Shuttle Projects

NASA Image and Video Library

2002-03-01

Carrying a crew of seven, the Space Shuttle Orbiter Columbia soared through some pre-dawn clouds into the sky as it began its 27th flight, STS-109. Launched March 1, 2002, the goal of the mission was the maintenance and upgrade of the Hubble Space Telescope (HST). The Marshall Space Flight Center had the responsibility for the design, development, and construction of the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. The HST detects objects 25 times fainter than the dimmest objects seen from Earth and provides astronomers with an observable universe 250 times larger than is visible from ground-based telescopes, perhaps as far away as 14 billion light-years. The HST views galaxies, stars, planets, comets, possibly other solar systems, and even unusual phenomena such as quasars, with 10 times the clarity of ground-based telescopes. During the STS-109 mission, the telescope was captured and secured on a work stand in Columbia's payload bay using Columbia's robotic arm. Here four members of the crew performed five spacewalks completing system upgrades to the HST. Included in those upgrades were: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when it original coolant ran out. Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 108th flight overall in NASA's Space Shuttle Program.

Coordinated Control Of Mobile Robotic Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

A Korean Space Situational Awareness Program : OWL Network

NASA Astrophysics Data System (ADS)

Park, J.; Choi, Y.; Jo, J.; Moon, H.; Im, H.; Park, J.

2012-09-01

We are going to present a brief introduction to the OWL (Optical Wide-field patroL) network, one of Korean space situational awareness facilities. Primary objectives of the OWL network are 1) to obtain orbital information of Korean domestic LEOs using optical method, 2) to monitor GEO-belt over territory of Korea, and 3) to alleviate collisional risks posed to Korean satellites from space debris. For these purposes, we are planning to build a global network of telescopes which consists of five small wide-field telescopes and one 2m class telescope. The network of small telescopes will be dedicated mainly to the observation of domestic LEOs, but many slots will be open to other scientific programs such as GRB follow-up observations. Main targets of 2m telescope not only include artificial objects such as GEO debris and LEO debris with low inclination and high eccentricity, but also natural objects such as near Earth asteroids. We expect to monitor space objects down to 10cm in size in GEO using the 2m telescope system. Main research topics include size distribution and evolution of space debris. We also expect to utilize this facility for physical characterization and population study of near Earth asteroids. The aperture size of the small telescope system is 0.5m with Rechey-Cretian configuration and its field of view is 1.75 deg x 1.75 deg. It is equipped with 4K CCD with 9um pixel size, and its plate scale is 1.3 arcsec/pixel. A chopper wheel is employed to maximize astrometric solutions in a single CCD frame, and a de-rotator is used to compensate field rotation of the alt-az type mount. We have designed a compact end unit in which three rotating parts (chopper wheel, filter wheel, de-rotator) and a CCD camera are integrated, and dedicated telescope/site control boards for the OWL network. The design of 2m class telescope is still under discussion yet is expected to be fixed in the first half of 2013 at the latest. The OWL network will be operated in a fully autonomous mode based on scheduled observation. We have designed a compact and robust system for fully robotic operation. The network operating system located in the headquarter issues command files for observation which are transferred to each local site. After that, the site operating system interprets command files and controls each telescope system. In this way, we obtain and update orbital information of domestic satellites based on purely optical method. A prototype of the network telescope system will be installed at a test bed in Korea in commissioning phase. After the test operation, the design of the network telescope system will be finalized in the end of 2012. The installation of the telescope systems in 3 local sites will be completed in 2013, and the so-called "OWL basic network"" will start normal operations. In the first two years of the second stage of the OWL Project (2014-2015), we plan to place two small wide-field telescopes, and we build the 2m telescope system to complete the OWL network in the 2016.

Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

NASA Astrophysics Data System (ADS)

Zheng, Taixiong

2005-12-01

A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

NRES: The Network of Robotic Echelle Spectrographs

NASA Astrophysics Data System (ADS)

Siverd, Robert; Brown, Timothy M.; Henderson, Todd; Hygelund, John; Barnes, Stuart; Bowman, Mark; De Vera, Jon; Eastman, Jason D.; Kirby, Annie; Norbury, Martin; Smith, Cary; Taylor, Brook; Tufts, Joseph; Van Eyken, Julian C.

2017-06-01

Las Cumbres Observatory (LCO) is building the Network of Robotic Echelle Spectrographs (NRES), which will consist of four to six identical, optical (390 - 860 nm) high-precision spectrographs, each fiber-fed simultaneously by up to two 1-meter telescopes and a Thorium-Argon calibration source. We plan to install one at up to 6 observatory sites in the Northern and Southern hemispheres, creating a single, globally-distributed, autonomous spectrograph facility using up to ten 1-m telescopes. Simulations suggest we will achieve long-term radial velocity precision of 3 m/s in less than an hour for stars brighter than V = 11 or 12. Following a few months of on-sky evaluation at our BPL test facility, the first spectrograph unit was shipped to CTIO in late 2016 and installed in March 2017. Barring serious complications, we expect regular scheduled science observing to begin in mid-2017. Three additional units are in building or testing phases and slated for deployment in late 2017. Acting in concert, these four spectrographs will provide a new, unique facility for stellar characterization and precise radial velocities. We will briefly overview the LCO telescope network, the NRES spectrograph design, the advantages it provides, and development challenges we encountered along the way. We will further discuss real-world performance from our first unit, initial science results, and the ongoing software development effort needed to automate such a facility for a wide array of science cases.

PROMPT: Panchromatic Robotic Optical Monitoring and Polarimetry Telescopes

NASA Astrophysics Data System (ADS)

Reichart, D.; Nysewander, M.; Moran, J.; Bartelme, J.; Bayliss, M.; Foster, A.; Clemens, J. C.; Price, P.; Evans, C.; Salmonson, J.; Trammell, S.; Carney, B.; Keohane, J.; Gotwals, R.

2005-07-01

Funded by .2M in grants and donations, we are now building PROMPT at CTIO. When completed in late 2005, PROMPT will consist of six 0.41-meter diameter Ritchey-Chrétien telescopes on rapidly slewing mounts that respond to GRB alerts within seconds, when the afterglow is potentially extremely bright. Each mirror and camera coating is being optimized for a different wavelength range and function, including a NIR imager, two red-optimized imagers, a blue-optimized imager, an UV-optimized imager, and an optical polarimeter. PROMPT will be able to identify high-redshift events by dropout and distinguish these events from the similar signatures of extinction. In this way, PROMPT will act as a distance-finder scope for spectroscopic follow up on the larger 4.1-meter diameter SOAR telescope, which is also located at CTIO. When not chasing GRBs, PROMPT serves broader educational objectives across the state of North Carolina. Enclosure construction and the first two telescopes are now complete and functioning: PROMPT observed Swift's first GRB in December 2004. We upgrade from two to four telescope in February 2005 and from four to six telescopes in mid-2005.

Using Telescopic Observations to Explore the Science of AGN with High School Students

NASA Astrophysics Data System (ADS)

McLin, K. M.; Cominsky, L. R.

2010-12-01

Over the past several years the NASA E/PO Group at Sonoma State University has operated a small robotic telescope in northern Sonoma County, California. The telescope is used by high school and college instructors and their students from around the United States. Observations have been used both in classroom settings and in after-school or extracurricular activities. It has also been central over the past two summers (2009/2010) as part of a summer science internship program for Sonoma County high school students. The program gave these students an in-depth experience collecting and analyzing astronomical data. This poster describes some of the ways that the telescope has been used to make scientific measurements (as opposed to “pretty pictures”) of astronomical phenomena in high school settings. Some of the obstacles to implementing a set of astronomical observations in the high school classroom will be described, as will the steps we have taken to overcome them. Information is provided on how instructors can become involved in using the telescope and what support is available to help them get started in their classes.

Follow-Up Photometry of Kelt Transiting Planet Candidates

NASA Astrophysics Data System (ADS)

Stephens, Denise C.; Joner, Michael D.; Hintz, Eric G.; Martin, Trevor; Spencer, Alex; Kelt Follow-Up Network (FUN) Team

2017-10-01

We have three telescopes at BYU that we use to follow-up possible transiting planet canidates for the KELT team. These telescopes were used to collect data on Kelt-16b and Kelt-9b, which is the hottest known exoplanet. More recently we used the newest of these telescopes, a robotic 8-inch telescope on the roof of our building, to confirm the most recent Kelt planet that will be published soon. This research has been ideal for the teaching and training of undergraduate students in the art of photometric observing and data reduction. In this presentation I will highlight how we are using our membership in the Kelt team to further the educational objective of our undergraduate astronomy program, while contributing meaningful science to the ever growing field of exoplanet discovery. I will also highlight a few of the more interesting Kelt planets and the minimum telescope requirements for detecting these planets. I will then discuss the sensitivities required to follow-up future TESS candidates, which may be of interest to others interested in joining the TESS follow-up teams.

Shared Skies Partnership: A Dual-Site All-Sky Live Remote Observing Initiative for Research and Education

NASA Astrophysics Data System (ADS)

Kielkopf, John F.; Hart, R.; Carter, B.; Collins, K. A.; Brown, C.; Hay, J.; Hons, A.; Marsden, S.

2014-01-01

The University of Southern Queensland's Mt. Kent Observatory in Queensland, Australia, and the University of Louisville's Moore Observatory in Kentucky, USA, are collaborating in the development of live remote observing for research, student training, and education. With a focus on flexible operation assisted by semi-autonomous controllers, rather than completely robotic data acquisition, the partnership provides interactive hands-on experience to students at all levels, optimized performance based on real-time observations, and flexible scheduling for transient events and targets of opportunity. Two sites on opposites sides of the globe cover the entire sky, and for equatorial regions allow nearly continuous coverage. The facilites include 0.5-m corrected Dall-Kirkham (CDK) telescopes at both sites, a 0.6 m Ritchie-Chretien telescope at Moore, and a new Nasmyth design 0.7-meter CDK at Mt. Kent instrumented for milli-magnitude precision photometry and wide field imaging, with spectrographs under development. We will describe the operational and data acquisition software, recent research results, and how remote access is being made available to students and observers.

MINERVA-Red: A telescope dedicated to the discovery of planets orbiting the nearest low-mass stars

NASA Astrophysics Data System (ADS)

Sliski, David; Blake, Cullen; Johnson, John A.; Plavchan, Peter; Wittenmyer, Robert A.; Eastman, Jason D.; Barnes, Stuart; Baker, Ashley

2017-01-01

Results from Kepler and ground-based exoplanet surveys suggest that M-dwarfs host numerous small sized planets. Additionally, the discovery of the Earth-sized exoplanets orbiting Proxima Centauri and Trappist 1 demonstrate that these stars can host terrestrial planets in their habitable zones. Since low-mass stars are intrinsically faint at optical wavelengths, obtaining 1 m/s Doppler resolution to detect their planetary companions remains a challenge for instruments designed for sun-like stars. We describe a novel, high-cadence approach aimed at detecting and characterizing planets orbiting the closest low-mass stars to the Sun. MINERVA-Red is an echelle spectrograph optimized for the 'deep red', between 800 nm and 900 nm, where M-dwarfs are brightest. The spectrograph will be temperature controlled at 20C +/- 10mk and in a vacuum chamber which maintains a pressure below 0.01 mbar while using a Fabry-Perot etalon and U/Ne lamp for wavelength calibration. The spectrometer will operate with a robotic, 0.7-meter telescope at Mt. Hopkins, Arizona. We expect first light in 2017.

The Young Solar Analogs Project

NASA Astrophysics Data System (ADS)

Gray, Richard O.; Saken, J. M.; Corbally, C. J.; Fuller, V.; Kahvaz, Y.; Lambert, R.; Newsome, I.; Seeds, M.

2013-01-01

We are carrying out a long-term project of measuring chromospheric activity and brightness variations in 31 young solar analogs (YSAs) using facilities at the Dark Sky Observatory (DSO - Appalachian State University) and the Vatican Advanced Technology Telescope (VATT). These YSAs are solar-type (spectral types F8 - K2) stars with ages ranging from 0.3 - 1.5 Gyr. The goal of this project is to gain better understanding of the magnetic activity of the early Sun, and especially how that activity may have impacted the development of life on the Earth. This project will also yield insights into the space environments experienced by young Earth analogs. We are currently in the 6th year of spectroscopic measurements of these stars: these data include Ca II H & K chromospheric flux measurements, and narrow-band measurements in the photospheric G-band, both obtained with the G/M spectrograph on the DSO 32-inch telescope. We will present evidence of activity cycles in a number of our stars, as well as periods determined from rotational modulation of the spectroscopic indices. The relationship between the Ca II activity index and the G-band index will be explored. NSF support for our project has provided funds for the construction of a robotic photometric telescope to monitor the program stars in a 5-passband system (Strömgren-v, Johnson-Cousins B, V, and R, and a 3-nm wide Hα filter). The robotic telescope has been functional since April 2012 and observes the program stars on every clear night; combined with the Piggy-back telescope attached to the DSO 32-inch, we now have photometric observations on over 130 nights stretching over nearly 2 years. We will examine the relationships between variations in the Ca II H & K index, the G-band index and the photometric bands. This project is supported by the National Science Foundation, grant AST-1109158.

The Robotic Hugo E. Schwarz Telescope | CTIO

Science.gov Websites

Program PIA Program GO-FAAR Program Other Opportunities Tourism Visits to Tololo Astro tourism in Chile Tourism in Chile Information for travelers Visit Tololo Media Relations News Press Release Publications of a new electronic drive system for the mount, and the second, dedicate to re-design the dome

On the optical counterpart of Swift J1658.2-4242

NASA Astrophysics Data System (ADS)

Russell, David M.; Lewis, Fraser; Zhang, Guobao

2018-02-01

We report on optical observations of the field of Swift J1658.2-4242 with the Las Cumbres Observatory (LCO) 1-m robotic telescopes. The X-ray (ATel #11306, #11321) and radio (ATel #11322) properties of the source suggest this new transient could be a black hole X-ray binary (BHXB).

CCD Astrometric Measurements of WDS 00420-5547 MLO 1

NASA Astrophysics Data System (ADS)

Kith, Camerin; Wilson, Jake; Agro, Sam; Toms, Sarah; Andreski, Bella; Torrance, Emily; Tock, Kalée.

2018-01-01

The position angle and separation of WDS 00420-5547 MLO 1 has been measured and noted in 20 publications since Robert Lewis Ellery’s initial observation in 1877. This system was observed using the R-COP robotic telescope in Australia, which is part of the Skynet Robotic Telescope Network. Their small separation made it difficult to resolve the two stars, except for the lowest-exposure-time images (5 seconds and 10 seconds) using a small measuring aperture (3-4 pixel aperture radius). AstroImageJ software was used to reduce the data and contribute a new measurement: position angle 165° ± 0.63 (1± SEM) and separation ?= 6.0 arc sec ± 0.12 (1 ± SEM) on 2017.093 (Besselian date). The observation was plotted along with the past observations using the Desmos plotting tool, which allows the date to be displayed next to each position of the secondary. Despite the fact that these stars are a Common Proper Motion pair, the data and plot do not currently support classification of this system as one that is gravitationally bound.

Astronomy in Syria

NASA Astrophysics Data System (ADS)

Al-Mousli, A. T.

2006-11-01

Syria has been involved in the field of astronomy since 1997, when Prof. F.R. QUERCI, France, visited Syria and made a presentation on the International NORT project; (NORT: the Network of Oriental Robotic Telescope), which was a selected project of the sixth United Nations/ European Space Agency Workshop on Basic Space Science (document no. A/AC.105/657 dated 13/12/1996). NORT aims to establish a robotic telescope network on high mountain peaks around the Tropic of Cancer, from Morocco in the west to the desert of China in the east. The purposes for establishing this network are technical and educational. The General Organization of Remote Sensing (GORS) has carried out a pilot study using remote sensing techniques and has selected four sites in order to determine the best location for the astronomical observatory the within NORT programme. Following this project, GORS decided to establish an office for astronomical studies, one of the earliest works of GORS in astronomy was an initiative to establish a planetarium within the GORS campus, to accommodate approximately 120 observers. A contest to choose the best planetarium design, for the Arab World, took place at GORS.

Measuring Visual Double Stars with Robotic Telescopes

NASA Astrophysics Data System (ADS)

Boyce, Pat; Boyce, Grady; Genet, Russell M.; Faisal Al-Zaben, Dewei Li, Yongyao Li, Aren Dennis, Zhixin Cao, Junyao Li, Steven Qu, Jeff Li, Michael Fene, Allen Priest, Stephen Priest, Rex Qiu, , and, Bill Riley

2016-06-01

The Astronomy Research Seminars introduce students to scientific research by carrying out the entire process: planning a scientific research project, writing a research proposal, gathering and analyzing observational data, drawing conclusions, and presenting the research results in a published paper and presentation.In 2015 Cuesta College and Russell Genet sponsored a new hybrid format for the seminar enabling distance learning. Boyce Research Initiatives and Education Foundation (BRIEF) conducted the course at The Army and Navy Academy (ANA) in Carlsbad, California, in the spring and fall of 2015.The course objective is to complete the research and publish the paper within one semester. Our program schedule called for observations to be performed within a two week period. Measurement of visual binary stars was chosen because sufficient observations could be made in just two evenings of good weather. We quickly learned that our location by the ocean did not provide reliable weather to use local telescopes.The iTelescope network of robotic telescopes located in Australia, Spain and the U.S. solved the problem. Reservations for these systems are booked online and include date, time, exposure and filters. The high quality telescopes range from 4" to 27" in size with excellent cameras. By watching the weather forecasts for the sites, we were able to schedule our observations within the two week time frame required.Timely and reliable data reduction was the next hurdle. The students were using widely varying equipment (PCs, MACs, tablets, smart phones) with incompatible software. After wasting time trying to be computer technicians, we settled a on standard set of software relying on Mirametrics' Mira Pro x64. We installed the software on an old laptop, downloaded the iTelescope data files, gave the students remote access using GoToMyPC.These efficiencies enabled us to meet the demanding one semester schedule and assure a better learning experience. We have been able to produce four published research papers on seven visual double star systems and have our data added to the Washington Double Star Catalog. A school can adopt these techniques to do visual double star research with a minimal investment.

Multi-robot control interface

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

Bruemmer, David J; Walton, Miles C

Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes amore » multi-robot common window comprised of information received from each of the plurality of robots.« less

Automatic control system generation for robot design validation

NASA Technical Reports Server (NTRS)

Bacon, James A. (Inventor); English, James D. (Inventor)

2012-01-01

The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

Contextual Student Learning through Authentic Asteroid Research Projects using a Robotic Telescope Network

NASA Astrophysics Data System (ADS)

Hoette, Vivian L.; Puckett, Andrew W.; Linder, Tyler R.; Heatherly, Sue Ann; Rector, Travis A.; Haislip, Joshua B.; Meredith, Kate; Caughey, Austin L.; Brown, Johnny E.; McCarty, Cameron B.; Whitmore, Kevin T.

2015-11-01

Skynet is a worldwide robotic telescope network operated by the University of North Carolina at Chapel Hill with active observing sites on 3 continents. The queue-based observation request system is simple enough to be used by middle school students, but powerful enough to supply data for research scientists. The Skynet Junior Scholars program, funded by the NSF, has teamed up with professional astronomers to engage students from middle school to undergraduates in authentic research projects, from target selection through image analysis and publication of results. Asteroid research is a particularly fruitful area for youth collaboration that reinforces STEM education standards and can allow students to make real contributions to scientific knowledge, e.g., orbit refinement through astrometric submissions to the Minor Planet Center. We have created a set of projects for youth to: 1. Image an asteroid, make a movie, and post it to a gallery; 2. Measure the asteroid’s apparent motion using the Afterglow online image processor; and 3. Image asteroids from two or more telescopes simultaneously to demonstrate parallax. The apparent motion and parallax projects allow students to estimate the distance to their asteroid, as if they were the discoverer of a brand new object in the solar system. Older students may take on advanced projects, such as analyzing uncertainties in asteroid orbital parameters; studying impact probabilities of known objects; observing time-sensitive targets such as Near Earth Asteroids; and even discovering brand new objects in the solar system.Images are acquired from among seven Skynet telescopes in North Carolina, California, Wisconsin, Canada, Australia, and Chile, as well as collaborating observatories such as WestRock in Columbus, Georgia; Stone Edge in El Verano, California; and Astronomical Research Institute in Westfield, Illinois.

Comparison of three different techniques for camera and motion control of a teleoperated robot.

PubMed

Doisy, Guillaume; Ronen, Adi; Edan, Yael

2017-01-01

This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface. Copyright © 2016 Elsevier Ltd. All rights reserved.

Developing the OORCC: A Multifaceted Astronomical Research and Outreach Facility at the University of Oregon

NASA Astrophysics Data System (ADS)

Kwan, Teiler J.; Bullis, Jeremy; Gustafsson, Annika; Fisher, Robert Scott

2015-01-01

The University of Oregon (UO) owns and operates Pine Mountain Observatory (PMO), located in central Oregon on the summit of Pine Mountain at an elevation of 1980 meters. PMO consists of four telescopes ranging in size from 0.35 - 0.8 meters. The Oregon Observatory Remote Control Center (OORCC) is a remote-observing center within the Department of Physics on the UO campus (~140 miles from the observatory) that has a direct connection to PMO through a dedicated fiber-optic cable. With this facility, we will enable UO undergraduate student researchers, UO faculty, and the non-scientific community to fully control and operate a newly installed robotic telescope on the summit of Pine Mountain from Eugene, or any other authorized site in Oregon. In addition to providing undergraduates with instrumentation and engineering experience, we will implement research by photometrically monitoring bright and variable astronomical sources including main belt comets, Herbig Ae/Be stars, and active galactic nuclei in extragalactic systems. The primary objective with the OORCC is to manage a multifaceted astronomy and astrophysics research facility, extending as a state-wide resource for K-12 STEM activities and public outreach programs. With the OORCC, we intend to bring unique and enriching astronomy exposure to many different groups of people throughout the state of Oregon.

A Green Robotic Observatory for Astronomy Education

NASA Astrophysics Data System (ADS)

Reddy, Vishnu; Archer, K.

2008-09-01

With the development of robotic telescopes and stable remote observing software, it is currently possible for a small institution to have an affordable astronomical facility for astronomy education. However, a faculty member has to deal with the light pollution (observatory location on campus), its nightly operations and regular maintenance apart from his day time teaching and research responsibilities. While building an observatory at a remote location is a solution, the cost of constructing and operating such a facility, not to mention the environmental impact, are beyond the reach of most institutions. In an effort to resolve these issues we have developed a robotic remote observatory that can be operated via the internet from anywhere in the world, has a zero operating carbon footprint and minimum impact on the local environment. The prototype observatory is a clam-shell design that houses an 8-inch telescope with a SBIG ST-10 CCD detector. The brain of the observatory is a low draw 12-volt harsh duty computer that runs the dome, telescope, CCD camera, focuser, and weather monitoring. All equipment runs of a 12-volt AGM-style battery that has low lead content and hence more environmental-friendly to dispose. The total power of 12-14 amp/hrs is generated from a set of solar panels that are large enough to maintain a full battery charge for several cloudy days. This completely eliminates the need for a local power grid for operations. Internet access is accomplished via a high-speed cell phone broadband connection or satellite link eliminating the need for a phone network. An independent observatory monitoring system interfaces with the observatory computer during operation. The observatory converts to a trailer for transportation to the site and is converted to a semi-permanent building without wheels and towing equipment. This ensures minimal disturbance to local environment.

The design of 1-wire net meteorological observatory for 2.4 m telescope

NASA Astrophysics Data System (ADS)

Zhu, Gao-Feng; Wei, Ka-Ning; Fan, Yu-Feng; Xu, Jun; Qin, Wei

2005-03-01

The weather is an important factor to affect astronomical observations. The 2.4 m telescope can not work in Robotic Mode without the weather data input. Therefore it is necessary to build a meteorological observatory near the 2.4 m telescope. In this article, the design of the 1-wire net meteorological observatory, which includes hardware and software systems, is introduced. The hardware system is made up of some kinds of sensors and ADC. A suited power station system is also designed. The software system is based on Windows XP operating system and MySQL data management system, and a prototype system of browse/server model is developed by JAVA and JSP. After being tested, the meteorological observatory can register the immediate data of weather, such as raining, snowing, and wind speed. At last, the data will be stored for feature use. The product and the design can work well for the 2.4 m telescope.

Full Service

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2004-01-01

NASA is moving ahead with the sole-source procurement of a Canadian robot to service the Hubble Space Telescope, gaining confidence the International Space Station (ISS) technology can perform all of the tasks shuttle-launched astronauts were scheduled to do before the Columbia accident changed everything. The U.S. agency is negotiating with MD Robotics, a MacDonald Dettwiler unit located in Brampton, Ontario, for a version of the Special Purpose Dexterous Manipulator (SPDM) the company developed for the ISS. The SPDM would be the business end of a throwaway module designed to replace batteries and gyroscopes, pull old instruments and install new ones before plunging to a targeted reentry over the Pacific.

Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

NASA Technical Reports Server (NTRS)

Sanders, Adam M. (Inventor); Quillin, Nathaniel (Inventor); Platt, Robert J., Jr. (Inventor); Pfeiffer, Joseph (Inventor); Permenter, Frank Noble (Inventor)

2014-01-01

A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

A Web-Remote/Robotic/Scheduled Astronomical Data Acquisition System

NASA Astrophysics Data System (ADS)

Denny, Robert

2011-03-01

Traditionally, remote/robotic observatory operating systems have been custom made for each observatory. While data reduction pipelines need to be tailored for each investigation, the data acquisition process (especially for stare-mode optical images) is often quite similar across investigations. Since 1999, DC-3 Dreams has focused on providing and supporting a remote/robotic observatory operating system which can be adapted to a wide variety of physical hardware and optics while achieving the highest practical observing efficiency and safe/secure web browser user controls. ACP Expert consists of three main subsystems: (1) a robotic list-driven data acquisition engine which controls all aspects of the observatory, (2) a constraint-driven dispatch scheduler with a long-term database of requests, and (3) a built-in "zero admin" web server and dynamic web pages which provide a remote capability for immediate execution and monitoring as well as entry and monitoring of dispatch-scheduled observing requests. No remote desktop login is necessary for observing, thus keeping the system safe and consistent. All routine operation is via the web browser. A wide variety of telescope mounts, CCD imagers, guiding sensors, filter selectors, focusers, instrument-package rotators, weather sensors, and dome control systems are supported via the ASCOM standardized device driver architecture. The system is most commonly employed on commercial 1-meter and smaller observatories used by universities and advanced amateurs for both science and art. One current project, the AAVSO Photometric All-Sky Survey (APASS), uses ACP Expert to acquire large volumes of data in dispatch-scheduled mode. In its first 18 months of operation (North then South), 40,307 sky images were acquired in 117 photometric nights, resulting in 12,107,135 stars detected two or more times. These stars had measures in 5 filters. The northern station covered 754 fields (6446 square degrees) at least twice, the southern station covered 951 fields (8500 square degrees) at least twice. The database of photometric calibrations is available from AAVSO. The paper will cover the ACP web interface, including the use of AJAX and JSON within a micro-content framework, as well as dispatch scheduler and acquisition engine operation.

A Low Cost Grism Spectrometer for Small Telescopes

NASA Astrophysics Data System (ADS)

Ludovici, Dominic

2016-06-01

We have designed and built a low cost (appx. $500) low resolution (R ~ 300) grating-prism (grism) spectrometer for the University of Iowa's robotic observatory. Grism spectrometers differ from simple transmission grating systems by partially compensating for the curved focal plane using a wedge prism. The spectrometer has five optical elements, and was designed using a ray tracing program. The collimating and focusing optics are easily modified for other telescope optics. The optics are mounted in an enclosure made with a 3-d printer. The spectrometer was installed in a modified (extended) filter wheel and has been in routine operation since January 2016. I will show sample spectra using this system and discuss spectral calibration, and optical design considerations for other telescopes. I will also discuss how low-resolution spectrometers can be used in undergraduate teaching laboratories.

Automated detection of optical counterparts to GRBs with RAPTOR

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

Wozniak, P. R.; Vestrand, W. T.; Evans, S.

2006-05-19

The RAPTOR system (RAPid Telescopes for Optical Response) is an array of several distributed robotic telescopes that automatically respond to GCN localization alerts. Raptor-S is a 0.4-m telescope with 24 arc min. field of view employing a 1k x 1k Marconi CCD detector, and has already detected prompt optical emission from several GRBs within the first minute of the explosion. We present a real-time data analysis and alert system for automated identification of optical transients in Raptor-S GRB response data down to the sensitivity limit of {approx} 19 mag. Our custom data processing pipeline is designed to minimize the timemore » required to reliably identify transients and extract actionable information. The system utilizes a networked PostgreSQL database server for catalog access and distributes email alerts with successful detections.« less

The MANIFEST prototyping design study

NASA Astrophysics Data System (ADS)

Lawrence, Jonathan S.; Ben-Ami, Sagi; Brown, David M.; Brown, Rebecca A.; Case, Scott; Chapman, Steve; Churilov, Vladimir; Colless, Matthew; Content, Robert; Depoy, Darren; Evans, Ian; Farrell, Tony; Goodwin, Michael; Jacoby, George; Klauser, Urs; Kuehn, Kyler; Lorente, Nuria P. F.; Mali, Slavko; Marshall, Jennifer; Muller, Rolf; Nichani, Vijay; Pai, Naveen; Prochaska, Travis; Saunders, Will; Schmidt, Luke; Shortridge, Keith; Staszak, Nicholas F.; Szentgyorgyi, Andrew; Tims, Julia; Vuong, Minh V.; Waller, Lewis G.; Zhelem, Ross

2016-08-01

MANIFEST is a facility multi-object fibre system for the Giant Magellan Telescope, which uses `Starbug' fibre positioning robots. MANIFEST, when coupled to the telescope's planned seeing-limited instruments, GMACS, and G-CLEF, offers access to: larger fields of view; higher multiplex gains; versatile reformatting of the focal plane via IFUs; image-slicers; and in some cases higher spatial and spectral resolution. The Prototyping Design Study phase for MANIFEST, nearing completion, has focused on developing a working prototype of a Starbugs system, called TAIPAN, for the UK Schmidt Telescope, which will conduct a stellar and galaxy survey of the Southern sky. The Prototyping Design Study has also included work on the GMT instrument interfaces. In this paper, we outline the instrument design features of TAIPAN, highlight the modifications that will be necessary for the MANIFEST implementation, and provide an update on the MANIFEST/instrument interfaces.

Intelligent robot control using an adaptive critic with a task control center and dynamic database

NASA Astrophysics Data System (ADS)

Hall, E. L.; Ghaffari, M.; Liao, X.; Alhaj Ali, S. M.

2006-10-01

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

Mergeable nervous systems for robots.

PubMed

Mathews, Nithin; Christensen, Anders Lyhne; O'Grady, Rehan; Mondada, Francesco; Dorigo, Marco

2017-09-12

Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of hardwired behaviors because they rely solely on distributed control. Here, we present robots whose bodies and control systems can merge to form entirely new robots that retain full sensorimotor control. Our control paradigm enables robots to exhibit properties that go beyond those of any existing machine or of any biological organism: the robots we present can merge to form larger bodies with a single centralized controller, split into separate bodies with independent controllers, and self-heal by removing or replacing malfunctioning body parts. This work takes us closer to robots that can autonomously change their size, form and function.Robots that can self-assemble into different morphologies are desired to perform tasks that require different physical capabilities. Mathews et al. design robots whose bodies and control systems can merge and split to form new robots that retain full sensorimotor control and act as a single entity.

STS-109 MS Grunsfeld and Linnehan stow old solar array from payload bay

NASA Image and Video Library

2002-03-04

STS109-E-5246 (4 March 2002) --- Astronaut John M. Grunsfeld (foreground), payload commander, is seen at one end of stowed solar panels in the cargo bay of the Space Shuttle Columbia while astronaut Richard M. Linnehan, mission specialist, uses the Remote Manipulator System's robotic arm to move around at the other end. The two, participating in the first of their assigned STS-109 space walks to perform work on the Hubble Space Telescope (HST), went on to replace the giant telescope’s starboard solar array. Their seven-hour space walk ended at 7:38 a.m. (CST) or 13:38 GMT March 4, 2002.

Minerva: A Dedicated Observatory for the Detection of Small Planets in the Solar Neighborhood

NASA Astrophysics Data System (ADS)

Hogstrom, Kristina; Johnson, J. A.; Wright, J.; McCrady, N.; Swift, J.; Muirhead, P.; Bottom, M.; Plavchan, P.; Zhao, M.; Riddle, R. L.

2013-01-01

Minerva is an array of 0.7m aperture robotic telescopes to be built atop Palomar Mountain outfitted for both photometry and high-resolution spectroscopy. It will be the first U.S. observatory dedicated to exoplanetary science capable of both precise radial velocimetry and transit studies. The multi-telescope concept will be implemented to either observe separate targets or a single target with a larger effective aperture. The flexibility of the observatory will maximize scientific potential and also provide ample opportunities for education and public outreach. The design and implementation of Minerva will be carried out by postdoctoral and student researchers at Caltech.

A Low-Cost "Stationary Eye" in the Sky

NASA Astrophysics Data System (ADS)

Koch, R.; Lande, K.; Mitchell, R.; Wildenhain, P.; Hoang, N.; Langford, J.

1997-12-01

We are developing a stationary, near the top of the atmosphere, astronomical observing system. The platform is a high altitude robotic aircraft (THESEUS) flying in anti-sense to Earth's rotation at a latitude where the plane's speed closely matches the local ground spin velocity. Thus, either an extended day or night viewing program of a given object can be achieved. Our intention here concentrates on astronomical targets. The system consists of the following components. (1) A low cost robotic aircraft that can fly at an altitude of about 25 km. for 30 to 40 hours with differential GPS navigation. Real time control of the aircraft and the observing instruments is either by on-board computer or from the ground via low altitude, commercial satellite communications systems (Iridium, Teledesic, etc.). (2) A siderostat-fed telescope of small f-ratio is attached to the aircraft via critically damped mechanical isolators. An electronic camera at the prime focus looks at a chosen astronomical target. (3) Image smear due to aircraft engine vibration will be eliminated by a combination of critically damped mechanical isolators and electronic CCD pixel jogging. Very precise piezo- electric driven transverse translation of the CCD camera will be used to compensate for wind induced drift of the image on the focal plane. Bright field stars will be used to drive the stabilizing system. (4) Data are stored on high capacity ruggedized hard drives similar to that used by the Mars Lander. The Aurora THESEUS aircraft, whose design is based upon earlier models, is under development. The image stabilizing system components have been identified. An off-the-shelf data-storage device has been chosen. A first prototype telescope has been built and tested. Other optical configurations are possible and collaborators will be welcomed.

3 Things Your Robot Should Know

NASA Astrophysics Data System (ADS)

Seaman, Rob

2011-03-01

Observational astronomy is an ancient pursuit, following an exponential trend since Galileo of ever greater capabilities. Or rather, a series of exponentials of growing apertures, the opening of new windows on the electromagnetic universe, photographic to photoelectric to digital instrumentation, balloons and spacecraft rising above atmospheric murk, to more avant-garde empirical endeavors such as multi-messenger facilities no longer recognizable as telescopes. At the same time the operational logistics of astronomy have been evolving. New observing modes and new scheduling paradigms have multiplied. Multi-year surveys supply last minute targets-of-opportunity. Astronomical software has mutated and ramified a millionfold from FORTH and FORTRAN to the Virtual Observatory (http://www.usvao.org). The beat goes on, but with accelerating syncopation. The majority of astronomical data nonetheless continues to be collected more-or-less directly by humans. Perhaps not the bottleneck, we are often the cork. The next revolution (evidenced by this conference) is toward autonomous technologies such as telepresence, robotic control, and complex telescope networks - power tools for observers. These technologies are intrinsically complex and interdependent, emergent in nature and benefit from network externality - that is, the scientific value will increase with the number of interconnected nodes. Such a wholesale cybernetic re-imagining of astronomy will only succeed if layered on an upgraded foundation. Three key elements of this new infrastructure will be discussed, particularly in the context of the astronomical time domain. These are 1) standardized transient celestial event messaging (http://voevent.org), 2) the efficient representation of data via compression technologies (http://heasarc.gsfc.nasa.gov/fitsio/fpack), and 3) traceability in timekeeping signals - NTP, GPS, and the uncertain future of UTC (http://ucolick.org/~sla/leapsecs).

Flight Dynamics and GN&C for Spacecraft Servicing Missions

NASA Technical Reports Server (NTRS)

Naasz, Bo; Zimpfer, Doug; Barrington, Ray; Mulder, Tom

2010-01-01

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

Ground-based Search of Earth-mass Exoplanets using Transit-Timing Variations

NASA Astrophysics Data System (ADS)

Fernandez, J. M.

2010-10-01

This work presents recent results from a ground-based transit follow-up program of the extrasolar planet XO-2b in order to find Earth-mass companions. It also introduces the future use of the MONET 1m-class robotic telescopes as part of the effort to overcome the difficulties of this kind of project.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

Design and simulation of EVA tools and robot end effectors for servicing missions of the HST

NASA Technical Reports Server (NTRS)

Naik, Dipak; Dehoff, P. H.

1995-01-01

The Hubble Space Telescope (HST) was launched into near-earth orbit by the Space Shuttle Discovery on April 24, 1990. The payload of two cameras, two spectrographs, and a high-speed photometer is supplemented by three fine-guidance sensors that can be used for astronomy as well as for star tracking. A widely reported spherical aberration in the primary mirror causes HST to produce images of much lower quality than intended. A Space Shuttle repair mission in January 1994 installed small corrective mirrors that restored the full intended optical capability of the HST. A Second Servicing Mission (SM2) scheduled in 1997 will involve considerable Extra Vehicular Activity (EVA). To reduce EVA time, the addition of robotic capability in the remaining servicing missions has been proposed. Toward that end, two concept designs for a general purpose end effector for robots are presented in this report.

SAAO's new robotic telescope and WiNCam (Wide-field Nasmyth Camera)

NASA Astrophysics Data System (ADS)

Worters, Hannah L.; O'Connor, James E.; Carter, David B.; Loubser, Egan; Fourie, Pieter A.; Sickafoose, Amanda; Swanevelder, Pieter

2016-08-01

The South African Astronomical Observatory (SAAO) is designing and manufacturing a wide-field camera for use on two of its telescopes. The initial concept was of a Prime focus camera for the 74" telescope, an equatorial design made by Grubb Parsons, where it would employ a 61mmx61mm detector to cover a 23 arcmin diameter field of view. However, while in the design phase, SAAO embarked on the process of acquiring a bespoke 1-metre robotic alt-az telescope with a 43 arcmin field of view, which needs a homegrown instrument suite. The Prime focus camera design was thus adapted for use on either telescope, increasing the detector size to 92mmx92mm. Since the camera will be mounted on the Nasmyth port of the new telescope, it was dubbed WiNCam (Wide-field Nasmyth Camera). This paper describes both WiNCam and the new telescope. Producing an instrument that can be swapped between two very different telescopes poses some unique challenges. At the Nasmyth port of the alt-az telescope there is ample circumferential space, while on the 74 inch the available envelope is constrained by the optical footprint of the secondary, if further obscuration is to be avoided. This forces the design into a cylindrical volume of 600mm diameter x 250mm height. The back focal distance is tightly constrained on the new telescope, shoehorning the shutter, filter unit, guider mechanism, a 10mm thick window and a tip/tilt mechanism for the detector into 100mm depth. The iris shutter and filter wheel planned for prime focus could no longer be accommodated. Instead, a compact shutter with a thickness of less than 20mm has been designed in-house, using a sliding curtain mechanism to cover an aperture of 125mmx125mm, while the filter wheel has been replaced with 2 peripheral filter cartridges (6 filters each) and a gripper to move a filter into the beam. We intend using through-vacuum wall PCB technology across the cryostat vacuum interface, instead of traditional hermetic connector-based wiring. This has advantages in terms of space saving and improved performance. Measures are being taken to minimise the risk of damage during an instrument change. The detector is cooled by a Stirling cooler, which can be disconnected from the cooler unit without risking damage. Each telescope has a dedicated cooler unit into which the coolant hoses of WiNCam will plug. To overcome an inherent drawback of Stirling coolers, an active vibration damper is incorporated. During an instrument change, the autoguider remains on the telescope, and the filter magazines, shutter and detector package are removed as a single unit. The new alt-az telescope, manufactured by APM-Telescopes, is a 1-metre f/8 Ritchey-Chrétien with optics by LOMO. The field flattening optics were designed by Darragh O'Donoghue to have high UV throughput and uniform encircled energy over the 100mm diameter field. WiNCam will be mounted on one Nasmyth port, with the second port available for SHOC (Sutherland High-speed Optical Camera) and guest instrumentation. The telescope will be located in Sutherland, where an existing dome is being extensively renovated to accommodate it. Commissioning is planned for the second half of 2016.

DEdicated MONitor of EXotransits and Transients (DEMONEXT): System Overview and Year One Results from a Low-cost Robotic Telescope for Followup of Exoplanetary Transits and Transients

NASA Astrophysics Data System (ADS)

Villanueva, Steven, Jr.; Gaudi, B. Scott; Pogge, Richard W.; Eastman, Jason D.; Stassun, Keivan G.; Trueblood, Mark; Trueblood, Patricia

2018-01-01

We report on the design and first year of operations of the DEdicated MONitor of EXotransits and Transients (DEMONEXT). DEMONEXT is a 20-inch (0.5-m) robotic telescope using a PlaneWave CDK20 telescope on a Mathis instruments MI-750/1000 fork mount. DEMONEXT is equipped with a 2048 × 2048 pixel Finger Lakes Instruments (FLI) detector; a 10-position filter wheel with an electronic focuser and B, V, R, and I, g\\prime , r\\prime , i\\prime , z\\prime ; and clear filters. DEMONEXT operates in a continuous observing mode and achieves 2-4 mmag raw, unbinned, precision on bright V< 13 targets with 20-120 second exposures, and 1 mmag precision achieved by binning on 5-6 minute timescales. DEMONEXT maintains sub-pixel (< 0.5 pixels) target position stability on the CCD over 8 hours in good observing conditions, with degraded performance in poor weather (< 1 pixel). DEMONEXT achieves 1%-10% photometry on single-epoch targets with V< 17 in 5 minute exposures, with detection thresholds of V≈ 21. The DEMONEXT automated software has produced 143 planetary candidate transit light curves for the KELT collaboration and 48 supernovae and transient light curves for the ASAS-SN supernovae group in the first year of operation. DEMONEXT has also observed for a number of ancillary science projects including Galactic microlensing, active galactic nuclei, stellar variability, and stellar rotation.

The Zadko Telescope: Exploring the Transient Universe

NASA Astrophysics Data System (ADS)

Coward, D. M.; Gendre, B.; Tanga, P.; Turpin, D.; Zadko, J.; Dodson, R.; Devogéle, M.; Howell, E. J.; Kennewell, J. A.; Boër, M.; Klotz, A.; Dornic, D.; Moore, J. A.; Heary, A.

2017-01-01

The Zadko telescope is a 1 m f/4 Cassegrain telescope, situated in the state of Western Australia about 80-km north of Perth. The facility plays a niche role in Australian astronomy, as it is the only meter class facility in Australia dedicated to automated follow-up imaging of alerts or triggers received from different external instruments/detectors spanning the entire electromagnetic spectrum. Furthermore, the location of the facility at a longitude not covered by other meter class facilities provides an important resource for time critical projects. This paper reviews the status of the Zadko facility and science projects since it began robotic operations in March 2010. We report on major upgrades to the infrastructure and equipment (2012-2014) that has resulted in significantly improved robotic operations. Second, we review the core science projects, which include automated rapid follow-up of gamma ray burst (GRB) optical afterglows, imaging of neutrino counterpart candidates from the ANTARES neutrino observatory, photometry of rare (Barbarian) asteroids, supernovae searches in nearby galaxies. Finally, we discuss participation in newly commencing international projects, including the optical follow-up of gravitational wave (GW) candidates from the United States and European GW observatory network and present first tests for very low latency follow-up of fast radio bursts. In the context of these projects, we outline plans for a future upgrade that will optimise the facility for alert triggered imaging from the radio, optical, high-energy, neutrino, and GW bands.

Space Shuttle Projects

NASA Image and Video Library

1997-05-08

The mission patch for STS-85 is designed to reflect the broad range of science and engineering payloads on the flight. The primary objectives of the mission were to measure chemical constituents in Earth’s atmosphere with a free-flying satellite and to flight-test a new Japanese robotic arm designed for use on the International Space Station (ISS). STS-85 was the second flight of the satellite known as Cryogenic Infrared Spectrometers and Telescopes for the Atmosphere-Shuttle Pallet Satellite-2 CRISTA-SPAS-02. CRISTA, depicted on the right side of the patch pointing its trio of infrared telescopes at Earth’s atmosphere, stands for Cryogenic Infrared Spectrometers and Telescopes for the Atmosphere. The high inclination orbit is shown as a yellow band over Earth’s northern latitudes. In the Space Shuttle Discovery’s open payload bay an enlarged version of the Japanese National Space Development Agency’s (NASDA) Manipulator Flight Demonstration (MFD) robotic arm is shown. Also shown in the payload bay are two sets of multi-science experiments: the International Extreme Ultraviolet Hitchhiker (IEH-02) nearest the tail and the Technology Applications and Science (TAS-01) payload. Jupiter and three stars are shown to represent sources of ultraviolet energy in the universe. Comet Hale-Bopp, which was visible from Earth during the mission, is depicted at upper right. The left side of the patch symbolizes daytime operations over the Northern Hemisphere of Earth and the solar science objectives of several of the payloads.

Development of a control algorithm for the ultrasound scanning robot (NCCUSR) using ultrasound image and force feedback.

PubMed

Kim, Yeoun Jae; Seo, Jong Hyun; Kim, Hong Rae; Kim, Kwang Gi

2017-06-01

Clinicians who frequently perform ultrasound scanning procedures often suffer from musculoskeletal disorders, arthritis, and myalgias. To minimize their occurrence and to assist clinicians, ultrasound scanning robots have been developed worldwide. Although, to date, there is still no commercially available ultrasound scanning robot, many control methods have been suggested and researched. These control algorithms are either image based or force based. If the ultrasound scanning robot control algorithm was a combination of the two algorithms, it could benefit from the advantage of each one. However, there are no existing control methods for ultrasound scanning robots that combine force control and image analysis. Therefore, in this work, a control algorithm is developed for an ultrasound scanning robot using force feedback and ultrasound image analysis. A manipulator-type ultrasound scanning robot named 'NCCUSR' is developed and a control algorithm for this robot is suggested and verified. First, conventional hybrid position-force control is implemented for the robot and the hybrid position-force control algorithm is combined with ultrasound image analysis to fully control the robot. The control method is verified using a thyroid phantom. It was found that the proposed algorithm can be applied to control the ultrasound scanning robot and experimental outcomes suggest that the images acquired using the proposed control method can yield a rating score that is equivalent to images acquired directly by the clinicians. The proposed control method can be applied to control the ultrasound scanning robot. However, more work must be completed to verify the proposed control method in order to become clinically feasible. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

With the Development of Teaching Sumo Robot are Discussed

NASA Astrophysics Data System (ADS)

quan, Miao Zhi; Ke, Ma; Xin, Wei Jing

In recent years, with of robot technology progress and robot science activities, robot technology obtained fast development. The system USES the Atmega128 single-chip Atmel company as a core controller, was designed using a infrared to tube detection boundary, looking for each other, controller to tube receiving infrared data, and according to the data control motor state thus robot reached automatic control purposes. Against robot by single-chip microcomputer smallest system, By making the teaching purpose is to promote the robot sumo students' interests and let more students to participate in the robot research activities.

System and method for seamless task-directed autonomy for robots

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

Nielsen, Curtis; Bruemmer, David; Few, Douglas

Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates targetmore » achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.« less

MICRONERVA: A Novel Approach to Large Aperture Astronomical Spectroscopy

NASA Astrophysics Data System (ADS)

Hall, Ryan; Plavchan, Peter; Geneser, Claire; Giddens, Frank; Spangler, Sophia

2016-06-01

MICRONERVA (MICRO Novel Exoplanet Radial Velocity Array) is a project to measure precise spectroscopic radial velocities. The cost of telescopes are a strong function of diameter, and light gathering power as opposed to angular resolution is the fundamental driver for telescope design for many spectroscopic science applications. By sacrificing angular resolution, many multiple smaller fiber-fed telescopes can be combined to synthesize the light gathering power of a larger diameter telescope at a lower effective cost. For our MICRONERVA prototype, based upon the larger MINERVA project, we will attempt to demonstrate that an array of four 8-inch CPC Celestron telescopes can be automated with sufficient active guiding precision for robust nightly robotic operations. The light from each telescope is coupled into single mode fibers, which are conveniently matched to the point spread function of 8-inch telescopes, which can be diffraction limited at red wavelengths in typical seeing at good observing sites. Additionally, the output from an array of single mode fibers provides stable output illumination of a spectrograph, which is a critical requirement of future precise radial velocity instrumentation. All of the hardware from the system is automated using Python programs and ASCOM and MaxIm DL software drivers. We will present an overview of the current status of the project and plans for future work. The detection of exoplanets using the techniques of MICRONERVA could potentially enable cost reductions for many types of spectroscopic research.

Review on design and control aspects of ankle rehabilitation robots.

PubMed

Jamwal, Prashant K; Hussain, Shahid; Xie, Sheng Q

2015-03-01

Ankle rehabilitation robots can play an important role in improving outcomes of the rehabilitation treatment by assisting therapists and patients in number of ways. Consequently, few robot designs have been proposed by researchers which fall under either of the two categories, namely, wearable robots or platform-based robots. This paper presents a review of both kinds of ankle robots along with a brief analysis of their design, actuation and control approaches. While reviewing these designs it was observed that most of them are undesirably inspired by industrial robot designs. Taking note of the design concerns of current ankle robots, few improvements in the ankle robot designs have also been suggested. Conventional position control or force control approaches, being used in the existing ankle robots, have been reviewed. Apparently, opportunities of improvement also exist in the actuation as well as control of ankle robots. Subsequently, a discussion on most recent research in the development of novel actuators and advanced controllers based on appropriate physical and cognitive human-robot interaction has also been included in this review. Implications for Rehabilitation Ankle joint functions are restricted/impaired as a consequence of stroke or injury during sports or otherwise. Robots can help in reinstating functions faster and can also work as tool for recording rehabilitation data useful for further analysis. Evolution of ankle robots with respect to their design and control aspects has been discussed in the present paper and a novel design with futuristic control approach has been proposed.

Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot.

PubMed

Alexandrov, Alexei V; Lippi, Vittorio; Mergner, Thomas; Frolov, Alexander A; Hettich, Georg; Husek, Dusan

2017-01-01

Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM) control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free , scalar equations. This paper investigates whether the EM alternative shows "real-world robustness" against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive ("voluntary") movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i) the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii) that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices.

Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot

PubMed Central

Alexandrov, Alexei V.; Lippi, Vittorio; Mergner, Thomas; Frolov, Alexander A.; Hettich, Georg; Husek, Dusan

2017-01-01

Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM) control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free, scalar equations. This paper investigates whether the EM alternative shows “real-world robustness” against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive (“voluntary”) movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i) the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii) that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices. PMID:28487646

A powerful new southern hemisphere survey for near-Earth objects

NASA Astrophysics Data System (ADS)

Christensen, E.; Lister, T.; Larson, S.; Gibbs, A.; Grauer, A.; Hill, R.; Johnson, J.; Kowalski, R.; Sanders, R.; Shelly, F.

2014-07-01

For nearly a decade, the Catalina Sky Survey (CSS) operated the Siding Spring Survey (SSS) in partnership with the Australian National University. The SSS was the only professional, full-time NEO survey in the Southern Hemisphere during this period. The SSS ceased operations in July of 2013, and the lack of a full-time, state-of-the-art survey in the Southern Hemisphere leaves a significant blind spot in NASA's ongoing effort to identify and track near-Earth objects (NEOs) that may pose a hazard to the Earth, or that may be appropriate destinations for robotic or human missions. The CSS and the Las Cumbres Observatory Global Telescope Network (LCOGT) are partnering to fill this gap, by rapidly building, deploying and operating a network of three dedicated 1.0-meter survey telescopes at Cerro Tololo, one of the premiere astronomical sites in the Southern Hemisphere. The partnership between CSS and LCOGT provides a fast-track, low-risk, and cost-effective survey capability that will be fully dedicated to the NEO discovery effort. The first of three survey telescopes will be operational ˜18 months after the start of funding, with the second and third telescopes coming online within an additional ˜12 months. Our joint survey will be a powerful new NEO survey capability. The telescopes are based on the field-tested LCOGT 1.0-m design, modified to feature a faster f/1.8 primary and a prime focus camera that will deliver an 8.6 deg^2 field of view (FOV), with a resolution of 1.0 arcseconds per pixel. The three co-located telescopes will offer the operational flexibility to survey together (acting as a 1.7-m telescope), or separately (effectively delivering a 25+ deg^2 FOV), and will have no competing science goals to compromise from the primary mission of NEO discovery. The telescopes will be robotically operated, and the data will be processed, validated, and reported in near real-time from the CSS headquarters in Tucson. Same-night and subsequent night astrometric follow-up observations will be carried out on the LCOGT network, which includes two 2.0-m and nine 1.0-m telescopes at 5 sites in both hemispheres. We calculate figures of merit (FOM) for this and other NEO survey systems, based on clear aperture, field of view, optical throughput, focal-plane fill factor and open-shutter efficiency. Our new survey program will be among the most powerful NEO survey systems in operation once deployed, with a FOM approximately 25 × larger than the SSS, larger than all CSS assets in Arizona combined, and larger than Pan-STARRS 1.

Concurrent Path Planning with One or More Humanoid Robots

NASA Technical Reports Server (NTRS)

Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor)

2014-01-01

A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

Neuromodulation as a Robot Controller: A Brain Inspired Strategy for Controlling Autonomous Robots

DTIC Science & Technology

2009-09-01

To Appear in IEEE Robotics and Automation Magazine PREPRINT 1 Neuromodulation as a Robot Controller: A Brain Inspired Strategy for Controlling...Introduction We present a strategy for controlling autonomous robots that is based on principles of neuromodulation in the mammalian brain...object, ignore irrelevant distractions, and respond quickly and appropriately to the event [1]. There are separate neuromodulators that alter responses to

STS-103: Flight Day 6 Highlights and Crew Activities Report

NASA Technical Reports Server (NTRS)

1999-01-01

Discovery's astronauts (Mission Commander, Curtis L. Brown; Pilot, Scott J. Kelly; Mission Specialists, Steven L. Smith, C. Michael Foale, and John M. Grunsfeld; and (ESA) Mission Specialists, Claude Nicollier and Jean-Francois Clervoy) deliver a Christmas present to the world, putting the Hubble Space Telescope back into service after 24 hours and 33 minutes of repairs and upgrades that make the orbital observatory more capable than ever. European Space Agency Astronaut Jean-Francois Clervoy uses the shuttle's robot arm to release the telescope at 5:03 p.m. CST, then places the arm into an upright salute as Commander Curt Brown fires Discovery's steering jets to begin separating from the telescope. The telescope's re-deployment takes place at an altitude of 370 statute miles as the two spacecraft fly over the South Pacific's coral sea northeast of Australia. At 5:39 CST, Brown executes a second steering jet burn, lowering Discovery's orbit slightly, so that it will begin orbiting faster than the telescope and move away at just under 6 statute miles per orbit. Afterward, each of the seven astronauts on board calls down holiday wishes from space in several languages.

Boosting productivity: a framework for professional/amateur collaborative teamwork

NASA Astrophysics Data System (ADS)

Al-Shedhani, Saleh S.

2002-11-01

As technology advances, remote operation of telescopes has paved the way for joint observational projects between Astronomy clubs. Equipped with a small telescope, a standard CCD, and a networked computer, the observatory can be set up to carry out several photometric studies. However, most club members lack the basic training and background required for such tasks. A collaborative network between professionals and amateurs is proposed to utilize professional know-how and amateurs' readiness for continuous observations. Working as a team, various long-term observational projects can be carried out using small telescopes. Professionals can play an important role in raising the standards of astronomy clubs via specialized training programs for members on how to use the available technology to search/observe certain events (e.g. supernovae, comets, etc.). Professionals in return can accumulate a research-relevant database and can set up an early notification scheme based on comparative analyses of the recently-added images in an online archive. Here we present a framework for the above collaborative teamwork that uses web-based communication tools to establish remote/robotic operation of the telescope, and an online archive and discussion forum, to maximize the interactions between professionals and amateurs and to boost the productivity of small telescope observatories.

Robotics

NASA Astrophysics Data System (ADS)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

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.

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.

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.

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.

Astronomy Outreach Activities for Special Needs Children and Their Families

NASA Astrophysics Data System (ADS)

Lubowich, D.

2010-08-01

I present the results of two NASA-IDEAS/STScI sponsored astronomy outreach programs for seriously ill children and their families staying at the Ronald McDonald House of Long Island (New Hyde Park, NY) and for children hospitalized at the Children's Medical Center, Winthrop University Hospital (Mineola, NY). These programs are designed for children of all ages and include STSCi's Tonight's Sky (monthly guide to the sky); telescope observations of the Moon, Sun, planets, nebulae, and stars; and hands-on activities. During cloudy weather remote/robotic telescope observations are shown. Edible demonstrations using chocolate, marshmallows, and popcorn are used to stimulate interest. The staff at the Ronald McDonald House and Children's Medical Center are being trained to use the telescope and to do demonstrations. These educational activities help children and their families learn about astronomy while providing a diversion to take their minds off their illness during a stressful time.

Mitigation of adverse environmental effects on lunar-based astronomical instruments

NASA Astrophysics Data System (ADS)

Johnson, Charles L.; Dietz, Kurtis L.; Armstrong, T. W.; Colborn, B. L.

The galactic cosmic-ray flux incident on the moon was examined for its potential adverse impact on the performance of the large lunar telescope (LLT) proposed as a part of NASA's Space Exploration Initiative (SEI). Noise produced by the cosmic-ray flux in the charge coupled devices to be used as the primary photodetector in the telescope was estimated. It was calculated that approximately 2.5 m of regolith would provide the shielding necessary to reduce the noise to an acceptable level. Dust is an omnipresent environmental concern for any human-assisted or robotic scientific instruments deployed on the moon. The degree to which dust poses an operational risk to the telescope was examined. Three potential methods for reducing this risk were identified: locating scientific instruments at remote locations; utilizing a prepared, dust-free site for all rocket activities; and covering the optics during high-risk times.

Mitigation of adverse environmental effects on lunar-based astronomical instruments

NASA Astrophysics Data System (ADS)

Johnson, Les; Dietz, Kurtis L.; Armstrong, T. W.; Colborn, B. L.

1994-02-01

The galactic cosmic-ray flux incident on the Moon was examined for its potential adverse impact on the performance of the large lunar telescope (LLT) proposed as a part of NASA's Space Exploration Initiative (SEI). Noise produced by the cosmic-ray flux in the charge coupled devices (CCD's) to be used as the primary photodetector in the telescope was estimated. It was calculated that approximately 2.5 m of regolith would provide the shielding necessary to reduce the noise to an acceptable level. Dust is an omnipresent environmental concern for any human-assisted or robotic scientific instruments deployed on the Moon. The degree to which dust poses an operational risk to the telescope was examined. Three potential methods for reducing this risk were identified: locating scientific instruments at remote locations; utilizing a prepared, dust-free site for all rocket activities; and covering the optics during high-risk times.

VizieR Online Data Catalog: Differential photometry of the EB* HATS551-027 (Zhou+, 2015)

NASA Astrophysics Data System (ADS)

Zhou, G.; Bayliss, D.; Hartman, J. D.; Rabus, M.; Bakos, G. A.; Jordan, A.; Brahm, R.; Penev, K.; Csubry, Z.; Mancini, L.; Espinoza, N.; de Val-Borro, M.; Bhatti, W.; Ciceri, S.; Henning, T.; Schmidt, B.; Murphy, S. J.; Butler, R. P.; Arriagada, P.; Shectman, S.; Crane, J.; Thompson, I.; Suc, V.; Noyes, R. W.

2017-11-01

The eclipses of HATS551-027 were first identified by observations from the HATSouth survey (Bakos et al. 2013PASP..125..154B). HATSouth is a global network of identical, fully robotic telescopes, providing continuous monitoring of selected 128 deg2 fields of the southern sky. A total of 16622 observations of HATS551-027 were obtained from HATSouth units HS-1, HS-2 in Chile, HS-3, HS-4 in Namibia, and HS-6 in Australia from 2009 September to 2010 September. Two secondary eclipses of HATS551-027 were observed by the Merope camera on 2-m Faulkes Telescope South (FTS), at Siding Spring Observatory, on 2012 December 12 and 2013 March 20. A near-complete primary eclipse of HATS551-027 was observed by the SITe#3 camera on the Swope 1 m telescope at Las Campanas Observatory, Chile, on 2013 February 26. (1 data file).

Mitigation of adverse environmental effects on lunar-based astronomical instruments

NASA Technical Reports Server (NTRS)

Johnson, Charles L.; Dietz, Kurtis L.; Armstrong, T. W.; Colborn, B. L.

1992-01-01

The galactic cosmic-ray flux incident on the moon was examined for its potential adverse impact on the performance of the large lunar telescope (LLT) proposed as a part of NASA's Space Exploration Initiative (SEI). Noise produced by the cosmic-ray flux in the charge coupled devices to be used as the primary photodetector in the telescope was estimated. It was calculated that approximately 2.5 m of regolith would provide the shielding necessary to reduce the noise to an acceptable level. Dust is an omnipresent environmental concern for any human-assisted or robotic scientific instruments deployed on the moon. The degree to which dust poses an operational risk to the telescope was examined. Three potential methods for reducing this risk were identified: locating scientific instruments at remote locations; utilizing a prepared, dust-free site for all rocket activities; and covering the optics during high-risk times.

Mitigation of adverse environmental effects on lunar-based astronomical instruments

NASA Technical Reports Server (NTRS)

Johnson, Les; Dietz, Kurtis L.; Armstrong, T. W.; Colborn, B. L.

1994-01-01

The galactic cosmic-ray flux incident on the Moon was examined for its potential adverse impact on the performance of the large lunar telescope (LLT) proposed as a part of NASA's Space Exploration Initiative (SEI). Noise produced by the cosmic-ray flux in the charge coupled devices (CCD's) to be used as the primary photodetector in the telescope was estimated. It was calculated that approximately 2.5 m of regolith would provide the shielding necessary to reduce the noise to an acceptable level. Dust is an omnipresent environmental concern for any human-assisted or robotic scientific instruments deployed on the Moon. The degree to which dust poses an operational risk to the telescope was examined. Three potential methods for reducing this risk were identified: locating scientific instruments at remote locations; utilizing a prepared, dust-free site for all rocket activities; and covering the optics during high-risk times.

Hubble Space Telescope Magnetometer and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance. Part 1

NASA Technical Reports Server (NTRS)

Wirzburger, John H.

2005-01-01

For f i h years, the science mission of the Hubble Space Telescope (HST) required using at least three of six rate gyros for attitude control. In the past, HST has mitigated gyro hardware failures by replacement of the failed units through Space Shuttle Servicing Missions. Following the tragic loss of Space Shuttle Columbia on STS-107, the desire to have a safe haven for astronauts during missions has resulted in the cancellation of all planned maxu14 missions to HST. While a robotic servicing mission is being currently being planned, controlling with alternate sensors to replace failed gyros can extend the HST Science mission until the robotic mission can be performed and extend science at HST s end of life. A two-gym control law has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), fixed head star trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms and attitude error to less than 10 milli-arcseconds prior to science imaging. The MSS and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth occultation of FHSTs and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and corrects the majority of attitude error in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law d a m p T2G rates and controls HST attitude during science imaging. This paper describes the M2G control law. Details of M2G algorithms are presented, including computation of the HST 3-axis attitude error estimate, design of the M2G control law, SISO hear stability analyses, and restrictions on operations to maintain the h d t h and safety requirement of a 10degree maximum attitude error. Results of simulations performed in HSTSIM, a high-fidelity non-linear time domain simulation, are presented to predict HST on-orbit performance in attitude hold and maneuver modes. Simulation results are compared to on-orbit data from M2G flight tests performed in November and December 2004 and February 2005. Flight telemetry, using a currently available third gyro, shows that HST attitude error with the new M2G control law is maintained below the 10-degree requirement, and attitude errors are under 2 degrees for 95% of the time.

Computer hardware and software for robotic control

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1987-01-01

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Unified Approach To Control Of Motions Of Mobile Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Design and implementation of self-balancing coaxial two wheel robot based on HSIC

NASA Astrophysics Data System (ADS)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

An Efficient and Versatile Means for Assembling and Manufacturing Systems in Space

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Doggett, William R.; Hafley, Robert A.; Komendera, Erik; Correll, Nikolaus; King, Bruce

2012-01-01

Within NASA Space Science, Exploration and the Office of Chief Technologist, there are Grand Challenges and advanced future exploration, science and commercial mission applications that could benefit significantly from large-span and large-area structural systems. Of particular and persistent interest to the Space Science community is the desire for large (in the 10- 50 meter range for main aperture diameter) space telescopes that would revolutionize space astronomy. Achieving these systems will likely require on-orbit assembly, but previous approaches for assembling large-scale telescope truss structures and systems in space have been perceived as very costly because they require high precision and custom components. These components rely on a large number of mechanical connections and supporting infrastructure that are unique to each application. In this paper, a new assembly paradigm that mitigates these concerns is proposed and described. A new assembly approach, developed to implement the paradigm, is developed incorporating: Intelligent Precision Jigging Robots, Electron-Beam welding, robotic handling/manipulation, operations assembly sequence and path planning, and low precision weldable structural elements. Key advantages of the new assembly paradigm, as well as concept descriptions and ongoing research and technology development efforts for each of the major elements are summarized.

Human space flight and future major space astrophysics missions: servicing and assembly

NASA Astrophysics Data System (ADS)

Thronson, Harley; Peterson, Bradley M.; Greenhouse, Matthew; MacEwen, Howard; Mukherjee, Rudranarayan; Polidan, Ronald; Reed, Benjamin; Siegler, Nicholas; Smith, Hsiao

2017-09-01

Some concepts for candidate future "flagship" space observatories approach the payload limits of the largest launch vehicles planned for the next few decades, specifically in the available volume in the vehicle fairing. This indicates that an alternative to autonomous self-deployment similar to that of the James Webb Space Telescope will eventually be required. Moreover, even before this size limit is reached, there will be significant motivation to service, repair, and upgrade in-space missions of all sizes, whether to extend the life of expensive facilities or to replace outworn or obsolete onboard systems as was demonstrated so effectively by the Hubble Space Telescope program. In parallel with these challenges to future major space astronomy missions, the capabilities of in-space robotic systems and the goals for human space flight in the 2020s and 2030s offer opportunities for achieving the most exciting science goals of the early 21st Century. In this paper, we summarize the history of concepts for human operations beyond the immediate vicinity of the Earth, the importance of very large apertures for scientific discovery, and current capabilities and future developments in robot- and astronaut-enabled servicing and assembly.

Silver and Gold

NASA Image and Video Library

2017-12-08

Inside NASA's Goddard Space Flight Center's giant clean room in Greenbelt, Md., JWST Optical Engineer Larkin Carey from Ball Aerospace, examines two test mirror segments recently placed on a black composite structure. This black composite structure is called the James Webb Space Telescope's “Pathfinder” and acts as a spine supporting the telescope's primary mirror segments. The Pathfinder is a non-flight prototype. The mirrors were placed on Pathfinder using a robotic arm move that involved highly trained engineers and technicians from Exelis, Northrop Grumman and NASA. "Getting this right is critical to proving we are ready to start assembling the flight mirrors onto the flight structure next summer," said Lee Feinberg, NASA's Optical Telescope Element Manager at NASA Goddard. "This is the first space telescope that has ever been built with a light-weighted segmented primary mirror, so learning how to do this is a groundbreaking capability for not only the Webb telescope but for potential future space telescopes." The James Webb Space Telescope is the successor to NASA's Hubble Space Telescope. It will be the most powerful space telescope ever built. Webb is an international project led by NASA with its partners, the European Space Agency and the Canadian Space Agency. For more information about the Webb telescope, visit: www.jwst.nasa.gov or www.nasa.gov/webb Credit: NASA/Chris Gunn 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

Autonomous control systems: applications to remote sensing and image processing

NASA Astrophysics Data System (ADS)

Jamshidi, Mohammad

2001-11-01

One of the main challenges of any control (or image processing) paradigm is being able to handle complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Examples of complex systems are power networks, space robotic colonies, national air traffic control system, and integrated manufacturing plant, the Hubble Telescope, the International Space Station, etc. Soft computing, a consortia of methodologies such as fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be powerful tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this paper new paradigms using soft computing approaches are utilized to design autonomous controllers and image enhancers for a number of application areas. These applications are satellite array formations for synthetic aperture radar interferometry (InSAR) and enhancement of analog and digital images.

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia.

PubMed

Andreasen Struijk, Lotte N S; Egsgaard, Line Lindhardt; Lontis, Romulus; Gaihede, Michael; Bentsen, Bo

2017-11-06

For an individual with tetraplegia assistive robotic arms provide a potentially invaluable opportunity for rehabilitation. However, there is a lack of available control methods to allow these individuals to fully control the assistive arms. Here we show that it is possible for an individual with tetraplegia to use the tongue to fully control all 14 movements of an assistive robotic arm in a three dimensional space using a wireless intraoral control system, thus allowing for numerous activities of daily living. We developed a tongue-based robotic control method incorporating a multi-sensor inductive tongue interface. One abled-bodied individual and one individual with tetraplegia performed a proof of concept study by controlling the robot with their tongue using direct actuator control and endpoint control, respectively. After 30 min of training, the able-bodied experimental participant tongue controlled the assistive robot to pick up a roll of tape in 80% of the attempts. Further, the individual with tetraplegia succeeded in fully tongue controlling the assistive robot to reach for and touch a roll of tape in 100% of the attempts and to pick up the roll in 50% of the attempts. Furthermore, she controlled the robot to grasp a bottle of water and pour its contents into a cup; her first functional action in 19 years. To our knowledge, this is the first time that an individual with tetraplegia has been able to fully control an assistive robotic arm using a wireless intraoral tongue interface. The tongue interface used to control the robot is currently available for control of computers and of powered wheelchairs, and the robot employed in this study is also commercially available. Therefore, the presented results may translate into available solutions within reasonable time.

MINERVA: A Dedicated Observatory for Detection of Nearby Low-Mass Exoplanets

NASA Astrophysics Data System (ADS)

McCrady, Nate; Johnson, John; Wright, Jason; Wittenmyer, Robert A.; Blake, Cullen; Swift, Jonathan; Eastman, Jason D.; Plavchan, Peter; Riddle, Reed L.; Muirhead, Philip Steven; Bottom, Michael; Zhao, Ming; Beatty, Thomas G.

2015-01-01

Detection of low-mass planets around GKM stars requires sub-meter-per-second radial velocity precision. Stellar noise sources (starspots, oscillations, and granulation) necessitate high cadence observations. MINERVA is a dedicated observatory for velocimetric detection of low mass exoplanets orbiting nearby stars. Our array of four robotic 0.7-meter PlaneWave telescopes feeds a purpose-built, temperature-stabilized, iodine cell spectrometer from Callaghan Innovation. We will monitor bright, sun-like stars within 100 pc every clear night from Whipple Observatory on Mt Hopkins, Arizona. Each telescope is also equipped with an Andor CCD for followup photometry and education use. Commissioning is underway on the site and science observations will begin in early 2015.

European astronaut selected for the third Hubble Space Telescope

NASA Astrophysics Data System (ADS)

1998-08-01

The STS-104 crew will rendezvous with the orbiting Hubble Space Telescope, which is the size of a city bus, capture it using the Shuttle's Canadian robot arm and secure it in Columbia's payload bay. Then, working in teams of two, the four astronauts will leave the Shuttle's pressurised cabin and venture into the payload bay, performing a variety of tasks that will improve the productivity and reliability of the telescope. The four astronauts will perform a series of six "extravehicular" activities in the open space environment. Such activities are commonly called spacewalks, but this term does little justice to the considerable physical and mental efforts that astronauts need to make in doing the very demanding work involved. The Shuttle commander and pilot for this flight have not yet been appointed, but the four designated mission specialists begin training for the STS-104 mission immediately. "The ambitious nature of this mission, with its six spacewalks, made it important for the payload crew to begin training as early as possible," said David C. Leestma, NASA Director of Flight Crew Operations at the Johnson Space Center in Houston, to which Claude Nicollier is on resident assignment from ESA's European Astronaut Centre in Cologne, Germany, the home base of the European astronaut corps. The Hubble Space Telescope was launched into orbit in April 1990. It is one of the most capable optical telescopes available to astronomers today, producing images and spectral observations at the forefront of astronomy. The European Space Agency contributed a 15 share to the development of Hubble. One of the five scientific instruments on board, the Faint Object Camera, was built by a European industrial consortium made up of British Aerospace, Dornier and Matra under a contract with the European Space Agency. The solar arrays which provide Hubble with electrical power were manufactured by British Aerospace and Dornier. In its eight years of operation, the telescope has not only observed relatively near celestial objects, like the planets in our solar system, but also looked thousands of millions of light years into space, taking images of the most distant galaxies ever seen. "The observations and spectral measurements taken with Hubble have improved our understanding of the origin and age of the universe. In some cases, the Hubble Space Telescope has already changed our thinking about the evolution of planetary systems, stars and galaxies," points out Roger Bonnet, ESA's Director of Science. Astronomers throughout the world are using the telescope. European astronomers have a significant share in the scientific utilisation of Hubble. The Space Telescope Science Institute in Baltimore, USA, coordinates and schedules the various observations. Europe's centre for coordinating observations from Hubble, the Space Telescope European Coordination Facility, is located at the Headquarters of the European Southern Observatory (ESO) at Garching, near Munich, Germany. The Hubble Space Telescope is the first spacecraft ever built that has been designed for extensive in-orbit maintenance and refurbishment by astronauts. Unlike other satellites launched on unmanned rockets, Hubble is accessible by astronauts in orbit. It has numerous grapple fixtures and handholds for ease of access and the safety of astronauts. Hence the telescope's planned 15-year continuous operating time, despite the harsh environmental conditions, and the ability to upgrade it with more powerful instruments as technology progresses. At regular intervals of 3 to 4 years, the US Space Shuttle visits the telescope in orbit to replace components which have failed or reached the nominal end of their operational lifetime and to replace and upgrade instruments with newer, better ones. STS-104 will be the third Hubble servicing mission, after STS-61 in December 1993 and STS-82 in February 1997. To increase Hubble's scientific capability, Nicollier and his fellow crew members from NASA will remove the European-built Faint Object Camera, which has been working without any problem since the launch in 1990, and replace it with a new-generation instrument, called the Advanced Camera for Survey. With its three electronic cameras and complement of filters, this camera is expected to improve the telescope's sensitivity tenfold. Other primary tasks to be accomplished during STS-104 mission include replacement of the existing solar arrays with rigid, high-efficiency arrays for which ESA will deliver the mechanisms, manufactured by Daimler-Benz Aerospace/Dornier. In common with optical instruments, solar arrays gradually decline in performance when exposed to the space environment. Further tasks are the replacement of a mechanical tape recorder with a new-generation solid-state recorder and the replacement of Fine Guidance Sensor no. 2, one of three such devices that help to point the telescope at a celestial target with an accuracy of 0.007 arc seconds. This is equivalent to keeping the telescope pointed at a candle in Amsterdam from Vevey, Switzerland, about 700 km away, where Nicollier was born. The crew will also install a cooling system to improve the thermal protection of some of the telescope's systems, a new-technology cryogenic cooler for the Near Infrared Camera and Mutli-Object Spectrometer instrument and six improvement kits which will enhance Hubble's battery charge capability. In addition, they will repair and replace much of the multi-layer exterior thermal insulation on the sun-facing side of the telescope. On the second Hubble servicing mission, STS-82 in February 1997, the crew noticed peeling on several areas of the insulation and applied four patches to the worst affected areas. Both Smith and Nicollier have previous in-flight experience with Hubble: Smith performed three extravehicular sorties during the STS-82 mission to Hubble and Nicollier operated the Shuttle's Canadian robot arm during the first servicing mission on the STS-61 mission in 1993. Foale has conducted extravehicular activities from both the Space Shuttle and the Russian Mir space station. Grunsfeld has two previous spaceflights to his credit. For Nicollier, who was selected by ESA in 1978 in the first group of European astronauts, it will be the fourth flight into space, more than any other European astronaut to date. Prior to taking part in the first Hubble servicing mission in December 1993, he was a mission specialist on the August 1992 STS-46 mission during which Eureca - the European retrievable experiment platform - was deployed and the first Tethered Satellite System test flight conducted. In February 1996 he participated in STS-75, which carried the US Microgravity Payload experiments and the second flight test of the Tethered Satellite System. Nicollier, who is delighted and honoured to be reassigned to a Hubble servicing mission, points out: "obviously, it makes sense to take advantage of our previous training and mission-specific experience to increase the likelihood of success, but it will nevertheless be a complex and demanding flight. 'Routine' is a word that has no place in astronaut's vocabulary." With three previous space missions, Nicollier is thoroughly experienced in the operation of the Shuttle's robotic arm and the procedures associated with meeting, capturing and redeploying free-flying platforms from the US Space Shuttle. Regular contacts with European development engineers ensure that Nicollier's experience from the Shuttle missions will also flow into the development of European elements for the International Space Station, most notably the Automated Transfer Vehicle and the European Robotic Arm. "Together with the selection of Pedro Duque for the STS-95 mission in October this year, and others we confidently expect in the future, the selection of Claude Nicollier, who is one of ESA's most experienced astronauts, is a clear signal of the high esteem in which NASA holds high professional skills and human qualities of Claude and the other European astronauts. This is a sound basis for fruitful cooperation of mutual benefit on the International Space Station, where astronauts from the USA, Russia, Europe, Japan and Canada will work together closely as a single integrated crew. It is also very useful to the development work on the European-built Station elements," comments Jörg Feustel-Büechl, who, as ESA Director of Manned Spaceflight and Microgravity, is responsible not only for the European astronaut corps but for the European participation in the International Space Station as well. Feustel-Büechl also points out that "the Hubble servicingmission shows that men and women can significantly augment the efficiency and lifetime of complex systems in space. Humans have two essential 'built-in tools' which make them superior to any robot: their brain and their hands. No robot offers a comparable combination of high intelligence, adaptability to unexpected situations, mobility, dexterity and tactility. Robotic systems can perform pre-defined routine tasks and even support astronauts in their work, as the Shuttle's robotic arm shows, but they soon reach their inherent limitations when it comes to evaluating results and deciding what to do next. That is one of the key reasons why we are building and operating a manned space station." Additional information on Claude Nicollier, his NASA crewmates, the Hubble Space Telescope, the International Space Station and Europe's participation in the ISS programme can be found at the following Internet addresses: ESA astronauts: http://www.estec.esa.int/spaceflight/astronaut/ NASA astronauts: http://www.jsc.nasa.gov/Bios/ Hubble Space Telescope: http://sci.esa.int/hubble/ http://oposite.stsci.edu http://www.stsci.edu http://ecf.hq.eso.org International Space Station: http://station.nasa.gov European participation in the International Space Station: http://www.estec.esa.int/spaceflight More information on ESA can be found at: http://www.esa.int

The Settings, Pros and Cons of the New Surgical Robot da Vinci Xi System for Transoral Robotic Surgery (TORS): A Comparison With the Popular da Vinci Si System.

PubMed

Kim, Da Hee; Kim, Hwan; Kwak, Sanghyun; Baek, Kwangha; Na, Gina; Kim, Ji Hoon; Kim, Se Heon

2016-10-01

The da Vinci system (da Vinci Surgical System; Intuitive Surgical Inc.) has rapidly developed in several years from the S system to the Si system and now the Xi System. To investigate the surgical feasibility and to provide workflow guidance for the newly released system, we used the new da Vinci Xi system for transoral robotic surgery (TORS) on a cadaveric specimen. Bilateral supraglottic partial laryngectomy, hypopharyngectomy, lateral oropharyngectomy, and base of the tongue resection were serially performed in search of the optimal procedures with the new system. The new surgical robotic system has been upgraded in all respects. The telescope and camera were incorporated into one system, with a digital end-mounted camera. Overhead boom rotation allows multiquadrant access without axis limitation, the arms are now thinner and longer with grabbing movements for easy adjustments. The patient clearance button dramatically reduces external collisions. The new surgical robotic system has been optimized for improved anatomic access, with better-equipped appurtenances. This cadaveric study of TORS offers guidance on the best protocol for surgical workflow with the new Xi system leading to improvements in the functional results of TORS.

Method and apparatus for automatic control of a humanoid robot

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Sanders, Adam M (Inventor); Reiland, Matthew J (Inventor)

2013-01-01

A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

NASA Technical Reports Server (NTRS)

Fullmer, R. Rees

1988-01-01

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

Education and public engagement in observatory operations

NASA Astrophysics Data System (ADS)

Gabor, Pavel; Mayo, Louis; Zaritsky, Dennis

2016-07-01

Education and public engagement (EPE) is an essential part of astronomy's mission. New technologies, remote observing and robotic facilities are opening new possibilities for EPE. A number of projects (e.g., Telescopes In Education, MicroObservatory, Goldstone Apple Valley Radio Telescope and UNC's Skynet) have developed new infrastructure, a number of observatories (e.g., University of Arizona's "full-engagement initiative" towards its astronomy majors, Vatican Observatory's collaboration with high-schools) have dedicated their resources to practical instruction and EPE. Some of the facilities are purpose built, others are legacy telescopes upgraded for remote or automated observing. Networking among institutions is most beneficial for EPE, and its implementation ranges from informal agreements between colleagues to advanced software packages with web interfaces. The deliverables range from reduced data to time and hands-on instruction while operating a telescope. EPE represents a set of tasks and challenges which is distinct from research applications of the new astronomical facilities and operation modes. In this paper we examine the experience with several EPE projects, and some lessons and challenges for observatory operation.

Follow-up of high energy neutrinos detected by the ANTARES telescope

NASA Astrophysics Data System (ADS)

Mathieu, Aurore

2016-04-01

The ANTARES telescope is well-suited to detect high energy neutrinos produced in astrophysical transient sources as it can observe a full hemisphere of the sky with a high duty cycle. Potential neutrino sources are gamma-ray bursts, core-collapse supernovae and flaring active galactic nuclei. To enhance the sensitivity of ANTARES to such sources, a detection method based on follow-up observations from the neutrino direction has been developed. This program, denoted as TAToO, includes a network of robotic optical telescopes (TAROT, Zadko and MASTER) and the Swift-XRT telescope, which are triggered when an "interesting" neutrino is detected by ANTARES. A follow-up of special events, such as neutrino doublets in time/space coincidence or a single neutrino having a very high energy or in the specific direction of a local galaxy, significantly improves the perspective for the detection of transient sources. The analysis of early and long term follow-up observations to search for fast and slowly varying transient sources, respectively, has been performed and the results covering optical and X-ray data are presented in this contribution.

Multi-object medium resolution optical spectroscopy at the E-ELT

NASA Astrophysics Data System (ADS)

Spanò, Paolo; Bonifacio, Piercarlo

2008-07-01

We present the design of a compact medium resolution spectrograph (R~15,000-20,000), intended to operate on a 42m telescope in seeing-limited mode. Our design takes full advantage of some new technology optical components, like volume phase holographic (VPH) gratings. At variance with the choice of complex large echelle spectrographs, which have been the standard on 8m class telescopes, we selected an efficient VPH spectrograph with a limited beam diameter, in order to keep overall dimensions and costs low, using proven available technologies. To obtain such a resolution, we need to moderately slice the telescope image plane onto the spectrograph entrance slit (5-6 slices). Then, standard telescope AO-mode (GLAO, Ground Layer Adaptive Optics) can be used over a large field of view (~10 arcmin), without loosing efficiency. Multiplex capabilities can greatly increase the observing efficiency. A robotic pick-up mirror system can be implemented, within conventional environmental conditions (temperature, pressure, gravity, size), demanding only standard mechanical and optical tolerances. A modular approach allows us scaling multiplex capabilities on overall costs and available space.

Space Shuttle Projects

NASA Image and Video Library

2002-03-07

STS-109 Astronaut Michael J. Massimino, mission specialist, perched on the Shuttle's robotic arm is working at the stowage area for the Hubble Space Telescope's port side solar array. Working in tandem with James. H. Newman, Massimino removed the old port solar array and stored it in Columbia's payload bay for return to Earth. The two went on to install a third generation solar array and its associated electrical components. Two crew mates had accomplished the same feat with the starboard array on the previous day. In addition to the replacement of the solar arrays, the STS-109 crew also installed the experimental cooling system for the Hubble's Near-Infrared Camera (NICMOS), replaced the power control unit (PCU), and replaced the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS). The 108th flight overall in NASA's Space Shuttle Program, the Space Shuttle Columbia STS-109 mission lifted off March 1, 2002 for 10 days, 22 hours, and 11 minutes. Five space walks were conducted to complete the HST upgrades. The Marshall Space Flight Center in Huntsville, Alabama had the responsibility for the design, development, and construction of the HST, which is the most powerful and sophisticated telescope ever built.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots.

PubMed

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots

PubMed Central

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers. PMID:26999614

Controlling the autonomy of a reconnaissance robot

NASA Astrophysics Data System (ADS)

Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

2004-09-01

In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

Control strategies for robots in contact

NASA Astrophysics Data System (ADS)

Park, Jaeheung

In the field of robotics, there is a growing need to provide robots with the ability to interact with complex and unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. The work in this thesis focuses on the development of a control framework that addresses these issues. The approaches are based on the operational space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. The proposed force control approach demonstrates high performance in the presence of uncertainties. Building on this basic capability, new control algorithms have been developed for haptic teleoperation, multi-contact interaction with the environment, and whole body motion of non-fixed based robots. These control strategies have been experimentally validated through simulations and implementations on physical robots. The results demonstrate the effectiveness of the new control structure and its robustness to uncertainties. The contact control strategies presented in this thesis are expected to contribute to the needs in advanced controller design for humanoid and other complex robots interacting with their environments.

Control of wheeled mobile robot in restricted environment

NASA Astrophysics Data System (ADS)

Ali, Mohammed A. H.; En, Chang Yong

2018-03-01

This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

Radio Wavelength Studies of the Galactic Center Source N3, Spectroscopic Instrumentation For Robotic Telescope Systems, and Developing Active Learning Activities for Astronomy Laboratory Courses

NASA Astrophysics Data System (ADS)

Ludovici, Dominic Alesio

2017-08-01

The mysterious radio source N3 appears to be located within the vicinity of the Radio Arc region of the Galactic Center. To investigate the nature of this source, we have conducted radio observations with the VLA and the VLBA. Continuum observations between 2 and 50 GHz reveal that N3 is an extremely compact and bright source with a non-thermal spectrum. Molecular line observations with the VLA reveal a compact molecular cloud adjacent to N3 in projection. The properties of this cloud are consistent with other galactic center clouds. We are able to rule out several hypotheses for the nature of N3, though a micro-blazar origin cannot be ruled out. Robotic Telescope systems are now seeing widespread deployment as both teaching and research instruments. While these systems have traditionally been able to produce high quality images, these systems have lacked the capability to conduct spectroscopic observations. To enable spectroscopic observations on the Iowa Robotic Observatory, we have developed a low cost (˜ 500), low resolution (R ˜ 300) spectrometer which mounts inside a modified filter wheel and a moderate cost (˜ 5000), medium resolution (R ˜ 8000) fiber-fed spectrometer. Software has been developed to operate both instruments robotically and calibration pipelines are being developed to automate calibration of the data. The University of Iowa offers several introductory astronomy laboratory courses taken by many hundreds of students each semester. To improve student learning in these laboratory courses, we have worked to integrate active learning into laboratory activities. We present the pedagogical approaches used to develop and update the laboratory activities and present an inventory of the current laboratory exercises. Using the inventory, we make observations of the strengths and weaknesses of the current exercises and provide suggestions for future refinement of the astronomy laboratory curriculum.

Solaris: a global network of autonomous observatories in the southern hemisphere

NASA Astrophysics Data System (ADS)

Kozłowski, S. K.; Sybilski, P.; Konacki, Maciej; Pawłaszek, R. K.; Ratajczak, Milena; Helminiak, K. G.

2014-07-01

We present Project Solaris, a network of four autonomous observatories in the Southern Hemisphere. The Project's primary goal is to detect and characterize circumbinary planets using the eclipse timing approach. This method requires high-cadence and long time-span photometric coverage of the binaries' eclipses, hence the observatories are located at sites having similar separation in longitude and nearly identical latitudes: South African Astronómical Observatory, Republic of South Africa (Solaris-1 and -2), Siding Spring Observatory, Australia (Solaris-3) and Complejo Astronomico El Leoncito, Argentina (Solaris-4). The headquarters coordinating and monitoring the network is based in Toruń, Poland. All four sites are operational as of December 2013. The instrument and hardware configurations are nearly identical. Each site is equipped with a 0.5-m Ritchey-Chrétien or Schmidt-Cassegrain optical tube assembly mounted on a direct-drive modified German equatorial mount along with a set of instruments. Computer, power and networking components are installed in rack cabinets. Everything is housed in sandwiched fiberglass clamshell 3.5-m diameter robotized domes. The Argentinian site is additionally equipped with a 20-ft office container. We discuss the design requirements of robotic observatories aimed to operate autonomously as a global network with concentration on efficiency, robustness and modularity. We also present a newly introduced spectroscopic mode of operation commissioned on the Solaris-1 telescope. Using a compact échelle spectrograph (20 000 resolution) mounted directly on the imaging train of the telescope, we are able to remotely acquire spectra. A fully robotic spectroscopic mode is planned for 2015.

Control of autonomous robot using neural networks

NASA Astrophysics Data System (ADS)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

The da Vinci telerobotic surgical system: the virtual operative field and telepresence surgery.

PubMed

Ballantyne, Garth H; Moll, Fred

2003-12-01

The United States Department of Defense developed the telepresence surgery concept to meet battlefield demands. The da Vinci telerobotic surgery system evolved from these efforts. In this article, the authors describe the components of the da Vinci system and explain how the surgeon sits at a computer console, views a three-dimensional virtual operative field, and performs the operation by controlling robotic arms that hold the stereoscopic video telescope and surgical instruments that simulate hand motions with seven degrees of freedom. The three-dimensional imaging and handlike motions of the system facilitate advanced minimally invasive thoracic, cardiac, and abdominal procedures. da Vinci has recently released a second generation of telerobots with four arms and will continue to meet the evolving challenges of surgery.

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

NASA Technical Reports Server (NTRS)

Sanders, Adam M. (Inventor); Strawser, Philip A. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor)

2015-01-01

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

Controlling robots in the home: Factors that affect the performance of novice robot operators.

PubMed

McGinn, Conor; Sena, Aran; Kelly, Kevin

2017-11-01

For robots to successfully integrate into everyday life, it is important that they can be effectively controlled by laypeople. However, the task of manually controlling mobile robots can be challenging due to demanding cognitive and sensorimotor requirements. This research explores the effect that the built environment has on the manual control of domestic service robots. In this study, a virtual reality simulation of a domestic robot control scenario was developed. The performance of fifty novice users was evaluated, and their subjective experiences recorded through questionnaires. Through quantitative and qualitative analysis, it was found that untrained operators frequently perform poorly at navigation-based robot control tasks. The study found that passing through doorways accounted for the largest number of collisions, and was consistently identified as a very difficult operation to perform. These findings suggest that homes and other human-orientated settings present significant challenges to robot control. Copyright © 2017 Elsevier Ltd. All rights reserved.

Kinematics Control and Analysis of Industrial Robot

NASA Astrophysics Data System (ADS)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

Determining of a robot workspace using the integration of a CAD system with a virtual control system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The paper presents a method for determining the workspace of an industrial robot using an approach consisting in integration a 3D model of an industrial robot with a virtual control system. The robot model with his work environment, prepared for motion simulation, was created in the “Motion Simulation” module of the Siemens PLM NX software. In the mentioned model components of the “link” type were created which map the geometrical form of particular elements of the robot and the components of “joint” type mapping way of cooperation of components of the “link” type. In the paper is proposed the solution in which the control process of a virtual robot is similar to the control process of a real robot using the manual control panel (teach pendant). For this purpose, the control application “JOINT” was created, which provides the manipulation of a virtual robot in accordance with its internal control system. The set of procedures stored in an .xlsx file is the element integrating the 3D robot model working in the CAD/CAE class system with the elaborated control application.

Bearing-based localization for leader-follower formation control

PubMed Central

Han, Qing; Ren, Shan; Lang, Hao; Zhang, Changliang

2017-01-01

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control. PMID:28426706

Interactive robot control system and method of use

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Sanders, Adam M. (Inventor); Platt, Robert (Inventor); Reiland, Matthew J. (Inventor); Linn, Douglas Martin (Inventor)

2012-01-01

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

NASA Technical Reports Server (NTRS)

Carroll, Robert L.

1989-01-01

The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

Open Issues in Evolutionary Robotics.

PubMed

Silva, Fernando; Duarte, Miguel; Correia, Luís; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.

SU-G-JeP3-08: Robotic System for Ultrasound Tracking in Radiation Therapy

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

Kuhlemann, I; Graduate School for Computing in Medicine and Life Sciences, University of Luebeck; Jauer, P

Purpose: For safe and accurate real-time tracking of tumors for IGRT using 4D ultrasound, it is necessary to make use of novel, high-end force-sensitive lightweight robots designed for human-machine interaction. Such a robot will be integrated into an existing robotized ultrasound system for non-invasive 4D live tracking, using a newly developed real-time control and communication framework. Methods: The new KUKA LWR iiwa robot is used for robotized ultrasound real-time tumor tracking. Besides more precise probe contact pressure detection, this robot provides an additional 7th link, enhancing the dexterity of the kinematic and the mounted transducer. Several integrated, certified safety featuresmore » create a safe environment for the patients during treatment. However, to remotely control the robot for the ultrasound application, a real-time control and communication framework has to be developed. Based on a client/server concept, client-side control commands are received and processed by a central server unit and are implemented by a client module running directly on the robot’s controller. Several special functionalities for robotized ultrasound applications are integrated and the robot can now be used for real-time control of the image quality by adjusting the transducer position, and contact pressure. The framework was evaluated looking at overall real-time capability for communication and processing of three different standard commands. Results: Due to inherent, certified safety modules, the new robot ensures a safe environment for patients during tumor tracking. Furthermore, the developed framework shows overall real-time capability with a maximum average latency of 3.6 ms (Minimum 2.5 ms; 5000 trials). Conclusion: The novel KUKA LBR iiwa robot will advance the current robotized ultrasound tracking system with important features. With the developed framework, it is now possible to remotely control this robot and use it for robotized ultrasound tracking applications, including image quality control and target tracking.« less

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

NASA Astrophysics Data System (ADS)

Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

2006-10-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

Design of the fiber optic support system and fiber bundle accelerated life test for VIRUS

NASA Astrophysics Data System (ADS)

Soukup, Ian M.; Beno, Joseph H.; Hayes, Richard J.; Heisler, James T.; Mock, Jason R.; Mollison, Nicholas T.; Good, John M.; Hill, Gary J.; Vattiat, Brian L.; Murphy, Jeremy D.; Anderson, Seth C.; Bauer, Svend M.; Kelz, Andreas; Roth, Martin M.; Fahrenthold, Eric P.

2010-07-01

The quantity and length of optical fibers required for the Hobby-Eberly Telescope* Dark Energy eXperiment (HETDEX) create unique fiber handling challenges. For HETDEX‡, at least 33,600 fibers will transmit light from the focal surface of the telescope to an array of spectrographs making up the Visible Integral-Field Replicable Unit Spectrograph (VIRUS). Up to 96 Integral Field Unit (IFU) bundles, each containing 448 fibers, hang suspended from the telescope's moving tracker located more than 15 meters above the VIRUS instruments. A specialized mechanical system is being developed to support fiber optic assemblies onboard the telescope. The discrete behavior of 448 fibers within a conduit is also of primary concern. A life cycle test must be conducted to study fiber behavior and measure Focal Ratio Degradation (FRD) as a function of time. This paper focuses on the technical requirements and design of the HETDEX fiber optic support system, the electro-mechanical test apparatus for accelerated life testing of optical fiber assemblies. Results generated from the test will be of great interest to designers of robotic fiber handling systems for major telescopes. There is concern that friction, localized contact, entanglement, and excessive tension will be present within each IFU conduit and contribute to FRD. The test apparatus design utilizes six linear actuators to replicate the movement of the telescope over 65,000 accelerated cycles, simulating five years of actual operation.

Coordination of multiple robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.; Soloway, D.

1987-01-01

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

Research on robot mobile obstacle avoidance control based on visual information

NASA Astrophysics Data System (ADS)

Jin, Jiang

2018-03-01

Robots to detect obstacles and control robots to avoid obstacles has been a key research topic of robot control. In this paper, a scheme of visual information acquisition is proposed. By judging visual information, the visual information is transformed into the information source of path processing. In accordance with the established route, in the process of encountering obstacles, the algorithm real-time adjustment trajectory to meet the purpose of intelligent control of mobile robots. Simulation results show that, through the integration of visual sensing information, the obstacle information is fully obtained, while the real-time and accuracy of the robot movement control is guaranteed.

Feasibility of Synergy-Based Exoskeleton Robot Control in Hemiplegia.

PubMed

Hassan, Modar; Kadone, Hideki; Ueno, Tomoyuki; Hada, Yasushi; Sankai, Yoshiyuki; Suzuki, Kenji

2018-06-01

Here, we present a study on exoskeleton robot control based on inter-limb locomotor synergies using a robot control method developed to target hemiparesis. The robot control is based on inter-limb locomotor synergies and kinesiological information from the non-paretic leg and a walking aid cane to generate motion patterns for the assisted leg. The developed synergy-based system was tested against an autonomous robot control system in five patients with hemiparesis and varying locomotor abilities. Three of the participants were able to walk using the robot. Results from these participants showed an improved spatial symmetry ratio and more consistent step length with the synergy-based method compared with that for the autonomous method, while the increase in the range of motion for the assisted joints was larger with the autonomous system. The kinematic synergy distribution of the participants walking without the robot suggests a relationship between each participant's synergy distribution and his/her ability to control the robot: participants with two independent synergies accounting for approximately 80% of the data variability were able to walk with the robot. This observation was not consistently apparent with conventional clinical measures such as the Brunnstrom stages. This paper contributes to the field of robot-assisted locomotion therapy by introducing the concept of inter-limb synergies, demonstrating performance differences between synergy-based and autonomous robot control, and investigating the range of disability in which the system is usable.

StarPals International Young Astronomers' Network Collaborative Projects for IYA

NASA Astrophysics Data System (ADS)

Kingan, Jessi

2008-09-01

StarPals is a nascent non-profit organization with the goal of providing opportunities for international collaboration between students of all ages within space science research. We believe that by encouraging an interest in the cosmos, the one thing that is truly Universal, from a young age, students will not only further their knowledge of and interest in science but will learn valuable teamwork and life skills. The goal is to foster respect, understanding and appreciation of cultural diversity among all StarPals participants, whether students, teachers, or mentors. StarPals aims to inspire students by providing opportunities in which, more than simply visualizing themselves as research scientists, they can actually become one. The technologies of robotic telescopes, videoconferencing, and online classrooms are expanding the possibilities like never before. In honor of IYA2009, StarPals would like to encourage 400 schools to participate on a global scale in astronomy/cosmology research on various concurrent projects. We will offer in-person or online workshops and training sessions to teach the teachers. We will be seeking publication in scientific journals for some student research. For our current project, the Double Stars Challenge, students use the robotic telescopes to take a series of four images of one of 30 double stars from a list furnished by the US Naval Observatory and then use MPO Canopus software to take distance and position angle measurements. StarPals provides students with hands-on training, telescope time, and software to complete the imaging and measuring. A paper will be drafted from our research data and submitted to the Journal of Double Star Observations. The kids who participate in this project may potentially be the youngest contributors to an article in a vetted scientific journal. Kids rapidly adapt and improve their computer skills operating these telescopes and discover for themselves that science is COOL!

Remote Imaging Projects In Research And Astrophotography With Starpals

NASA Astrophysics Data System (ADS)

Fischer, Audrey; Kingan, J.

2008-05-01

StarPals is a nascent non-profit organization with the goal of providing opportunities for international collaboration between students of all ages within space science research. We believe that by encouraging an interest in the cosmos, the one thing that is truly Universal, from a young age, students will not only further their knowledge of and interest in science but will learn valuable teamwork and life skills. The goal is to foster respect, understanding and appreciation of cultural diversity among all StarPals participants, whether students, teachers, or mentors. StarPals aims to inspire students by providing opportunities in which, more than simply visualizing themselves as research scientists, they can actually become one. The technologies of robotic telescopes, videoconferencing, and online classrooms are expanding the possibilities like never before. In honor of IYA2009, StarPals would like to encourage 400 schools to participate on a global scale in astronomy/cosmology research on various concurrent projects. We will offer in-person or online workshops and training sessions to teach the teachers. We will be seeking publication in scientific journals for some student research. For our current project, the Double Stars Challenge, students use the robotic telescopes to take a series of four images of one of 30 double stars from a list furnished by the US Naval Observatory and then use MPO Canopus software to take distance and position angle measurements. StarPals provides students with hands-on training, telescope time, and software to complete the imaging and measuring. A paper will be drafted from our research data and submitted to the Journal of Double Star Observations. The kids who participate in this project may potentially be the youngest contributors to an article in a vetted scientific journal. Kids rapidly adapt and improve their computer skills operating these telescopes and discover for themselves that science is COOL!

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.

Evolutionary Fuzzy Control and Navigation for Two Wheeled Robots Cooperatively Carrying an Object in Unknown Environments.

PubMed

Juang, Chia-Feng; Lai, Min-Ge; Zeng, Wan-Ting

2015-09-01

This paper presents a method that allows two wheeled, mobile robots to navigate unknown environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform either obstacle boundary following (OBF) or target seeking (TS) to reach a destination. The two robots are controlled by fuzzy controllers (FC) whose rules are learned through an adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO), which avoids the time-consuming task of manually designing the controllers. The AF-CACPSO-based evolutionary fuzzy control approach is first applied to the control of a single robot to perform OBF. The learning approach is then applied to achieve cooperative OBF with two robots, where an auxiliary FC designed with the AF-CACPSO is used to control the follower robot. For cooperative TS, a rule for coordination of the two robots is developed. To navigate cooperatively, a cooperative behavior supervisor is introduced to select between cooperative OBF and cooperative TS. The performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms for the OBF learning problem. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots.

Design considerations and strategies for lunar-based observations

NASA Technical Reports Server (NTRS)

Snoddy, William C.; Nein, Max E.; Hilchey, John D.

1994-01-01

This paper addresses the design considerations and strategies for astrophysical observations as key elements of an international solar system exploration program. Emphasis is placed on the technical and programmatic challenges and opportunities associated with an evolving program of lunar-based astronomy. Both robotic and human tended facilities are discussed ranging from relatively small meter-class transit telescopes to large interferometer and filled-aperture systems.

Research on the inspection robot for cable tunnel

NASA Astrophysics Data System (ADS)

Xin, Shihao

2017-03-01

Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

An Integrated Framework for Human-Robot Collaborative Manipulation.

PubMed

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1991-01-01

This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale model. The controller does not need to calculate the quasi-steady variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1989-01-01

The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

NASA Astrophysics Data System (ADS)

Haq, R.; Prayitno, H.; Dzulkiflih; Sucahyo, I.; Rahmawati, E.

2018-03-01

In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review.

PubMed

Hussain, Shahid; Jamwal, Prashant K; Ghayesh, Mergen H

2017-12-01

There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

Soft Robotics: New Perspectives for Robot Bodyware and Control

PubMed Central

Laschi, Cecilia; Cianchetti, Matteo

2014-01-01

The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments. PMID:25022259

Optimized Assistive Human-Robot Interaction Using Reinforcement Learning.

PubMed

Modares, Hamidreza; Ranatunga, Isura; Lewis, Frank L; Popa, Dan O

2016-03-01

An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops. First, a robot-specific neuro-adaptive controller is designed in the inner loop to make the unknown nonlinear robot behave like a prescribed robot impedance model as perceived by a human operator. In contrast to existing neural network and adaptive impedance-based control methods, no information of the task performance or the prescribed robot impedance model parameters is required in the inner loop. Then, a task-specific outer-loop controller is designed to find the optimal parameters of the prescribed robot impedance model to adjust the robot's dynamics to the operator skills and minimize the tracking error. The outer loop includes the human operator, the robot, and the task performance details. The problem of finding the optimal parameters of the prescribed robot impedance model is transformed into a linear quadratic regulator (LQR) problem which minimizes the human effort and optimizes the closed-loop behavior of the HRI system for a given task. To obviate the requirement of the knowledge of the human model, integral reinforcement learning is used to solve the given LQR problem. Simulation results on an x - y table and a robot arm, and experimental implementation results on a PR2 robot confirm the suitability of the proposed method.

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.

Portable control device for networked mobile robots

DOEpatents

Feddema, John T.; Byrne, Raymond H.; Bryan, Jon R.; Harrington, John J.; Gladwell, T. Scott

2002-01-01

A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

Research on wheelchair robot control system based on EOG

NASA Astrophysics Data System (ADS)

Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

2018-04-01

The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

Two-site Photometry and Spectroscopy of the Rapidly Pulsating sdB Star EC 22221-3152

NASA Astrophysics Data System (ADS)

Barlow, B. N.; Kilkenny, D.; Geier, S.; Dunlap, B. H.; Reichart, D. E.; LaCluyze, A. P.; Ivarsen, K. M.; Haislip, J. B.; Nysewander, M. C.

2017-05-01

We present follow-up photometry and spectroscopy of the rapidly pulsating subdwarf B star EC 22221-3152. Using the SAAO 1.0-m telescope and the 0.4-m Panchromatic Robotic Optical Monitoring and Polarimetry Telescopes (PROMPT) at the Cerro Tololo Inter-American Observatory (CTIO), we monitored the star photometrically for one week. By combining data from both telescopes, we were able to resolve 18 significant periodicities in the light curve. Seven of these signals consist of combination frequencies, a first harmonic, and possible rotational splittings that would be indicative of an 8.2-d rotation period. The remaining 11 periodicities appear to represent independent oscillation modes, including three not originally detected in the discovery work. Time series spectroscopy obtained with the Goodman spectrograph on the 4.1-m SOAR telescope reveals possible velocity variations corresponding to two of the observed pulsation modes. From atmospheric model fits to the spectra, we derive {T}{eff}=35600+/- 600 K, log g = 5.86 ± 0.15, and log N(He)/N(H) = -1.4 ± 0.3 and confirm the star’s status as one of the hottest sdBV r stars currently known. Based on observations at the SOAR telescope, a collaboration between CPNq-Brazil, NOAO, UNC, and MSU.

Exploring TeleRobotics: A Radio-Controlled Robot

ERIC Educational Resources Information Center

Deal, Walter F., III; Hsiung, Steve C.

2007-01-01

Robotics is a rich and exciting multidisciplinary area to study and learn about electronics and control technology. The interest in robotic devices and systems provides the technology teacher with an excellent opportunity to make many concrete connections between electronics, control technology, and computers and science, engineering, and…

An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger

PubMed Central

Hussain, Irfan; Spagnoletti, Giovanni; Salvietti, Gionata; Prattichizzo, Domenico

2016-01-01

In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human’s ones including the ability of regulating the compliance. So that, it is important to propose a control interface and to consider the actuators and sensing capabilities of the robotic extra finger compatible to implement stiffness regulation control techniques. We propose EMG interface and a control approach to regulate the compliance of the device through servo actuators. In particular, we use a commercial EMG armband for gesture recognition to be associated with the motion control of the robotic device and surface one channel EMG electrodes interface to regulate the compliance of the robotic device. We also present an updated version of a robotic extra finger where the adduction/abduction motion is realized through ball bearing and spur gears mechanism. We have validated the proposed interface with two sets of experiments related to compensation and augmentation. In the first set of experiments, different bimanual tasks have been performed with the help of the robotic device and simulating a paretic hand since this novel wearable system can be used to compensate the missing grasping abilities in chronic stroke patients. In the second set, the robotic extra finger is used to enlarge the workspace and manipulation capability of healthy hands. In both sets, the same EMG control interface has been used. The obtained results demonstrate that the proposed control interface is intuitive and can successfully be used, not only to control the motion of a supernumerary robotic finger but also to regulate its compliance. The proposed approach can be exploited also for the control of different wearable devices that has to actively cooperate with the human limbs. PMID:27891088

Google glass-based remote control of a mobile robot

NASA Astrophysics Data System (ADS)

Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

2016-05-01

In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

D2 Delta Robot Structural Design and Kinematics Analysis

NASA Astrophysics Data System (ADS)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

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.

Robots, systems, and methods for hazard evaluation and visualization

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

Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.

A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximatemore » the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.« less

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.

Human-like Compliance for Dexterous Robot Hands

NASA Technical Reports Server (NTRS)

Jau, Bruno M.

1995-01-01

This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

Upgrade of a GEP50 robot control system

NASA Astrophysics Data System (ADS)

Alounai, Ali T.; Gharsalli, Imed

2000-03-01

Recently the ASL at Tennessee Technological University was donated a GEP50 welder. The welding is done via off line point-to-point teaching. A state of the art robot was needed for research but because money was not available to purchase such an expensive item. It was therefore decided to upgrade the GEP50 control system to make the welder a multitasking robot. The robot has five degrees of freedom can be sufficient to pursue some research in robotics control. The problem was that the control system of the welder is limited to point-to-point control, using off-line teaching. To make the GEP50 a multitasking robot that can be controlled using different control strategies, the existing control system of the welder had to be replaced. The upgrade turned to be a low cost operation. This robot is currently in sue to test different advanced control strategies in the ASL. This work discusses all the steps and tasks undertaken during the upgrade operation. The hardware and software required or the upgrade are provided in this paper. The newly developed control system has been implemented and tested successfully.

The study on servo-control system in the large aperture telescope

NASA Astrophysics Data System (ADS)

Hu, Wei; Zhenchao, Zhang; Daxing, Wang

2008-08-01

Large astronomical telescope or extremely enormous astronomical telescope servo tracking technique will be one of crucial technology that must be solved in researching and manufacturing. To control technique feature of large astronomical telescope or extremely enormous astronomical telescope, this paper design a sort of large astronomical telescope servo tracking control system. This system composes a principal and subordinate distributed control system, host computer sends steering instruction and receive slave computer functional mode, slave computer accomplish control algorithm and execute real-time control. Large astronomical telescope servo control use direct drive machine, and adopt DSP technology to complete direct torque control algorithm, Such design can not only increase control system performance, but also greatly reduced volume and costs of control system, which has a significant occurrence. The system design scheme can be proved reasonably by calculating and simulating. This system can be applied to large astronomical telescope.

Optimal control of 2-wheeled mobile robot at energy performance index

NASA Astrophysics Data System (ADS)

Kaliński, Krzysztof J.; Mazur, Michał

2016-03-01

The paper presents the application of the optimal control method at the energy performance index towards motion control of the 2-wheeled mobile robot. With the use of the proposed method of control the 2-wheeled mobile robot can realise effectively the desired trajectory. The problem of motion control of mobile robots is usually neglected and thus performance of the realisation of the high level control tasks is limited.

VizieR Online Data Catalog: Photometry and spectroscopy of NP Per (Lacy+, 2016)

NASA Astrophysics Data System (ADS)

Lacy, C. H. S.; Fekel, F. C.; Pavlovski, K.; Torres, G.; Muterspaugh, M. W.

2016-09-01

From 2011 November through 2014 November, we acquired 56 high-quality spectra of NP Per with the Tennessee State University 2m Automatic Spectroscopic Telescope (AST) and a fiber-fed echelle spectrograph at Fairborn Observatory in southeast Arizona. Of these spectra, 55 were suitable for radial velocity measurements (see Table1). The detector for these observations was a Fairchild 486 CCD, having 4096*4096 15μ pixels. While the spectrograms have 48 orders ranging from 3800 to 8260Å, we have used just the orders that cover the wavelength region from 4920 to 7100Å. We made our observations with a fiber that produced a spectral resolution of 0.4Å, corresponding to a resolving power of 15000 at 6000Å. Our spectra have typical signal-to-noise ratios (S/Ns) of 40 at 6000Å. We began V-band photometric observations of NP Per with the URSA WebScope on 2003 December 2. URSA is a 10inch Schmidt-Cassegrain telescope made by Meade Instruments Corp., equipped with a V-band filter and a Santa Barbara Instruments Group ST8 CCD camera, housed in a Technical Innovations RoboDome, all controlled by a Macintosh computer in a control room under the observing deck of Kimpel Hall on the University of Arkansas campus at Fayetteville. A larger telescope, the NFO WebScope, was brought to bear on 2005 February 27. Nearly all the observations after this date were obtained with the NFO, which is a robotic 24inch Cassegrain reflector located near Silver City, NM, USA. Both telescopes used Bessel V filters consisting of 2.0mm of GG495 and 3.0mm of BG 39. Exposures were 120 seconds long for both telescopes, and the cadence was typically 150 seconds per image. The images contained the variable star (TYC 2371-0390-1=BD +31 0729) and 2 comparison stars (TYC 2371-156-1 and TYC 2371-1034-1) of approximately the same brightness and color as the variable star. The observations are given in Table6 for the URSA WebScope and in Table7 for the NFO WebScope. Dates of eclipses obtained from the literature are given in Table8. (6 data files).

Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

ERIC Educational Resources Information Center

Xu, Yiliang

2011-01-01

The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

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.

A Unified Approach to Motion Control of Motion Robots

NASA Technical Reports Server (NTRS)

Seraji, H.

1994-01-01

This paper presents a simple on-line approach for motion control of mobile robots made up of a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots, such as rover-mounted manipulators and to holonomic mobile robots such as tracked robots or compound manipulators. The computational efficiency of the proposed control scheme makes it particularly suitable for real-time implementation.

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

NASA Astrophysics Data System (ADS)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

The research on visual industrial robot which adopts fuzzy PID control algorithm

NASA Astrophysics Data System (ADS)

Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye

2017-03-01

The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

Cartesian control of redundant robots

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.

1989-01-01

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

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.

New Paradigms for Human-Robotic Collaboration During Human Planetary Exploration

NASA Astrophysics Data System (ADS)

Parrish, J. C.; Beaty, D. W.; Bleacher, J. E.

2017-02-01

Human exploration missions to other planetary bodies offer new paradigms for collaboration (control, interaction) between humans and robots beyond the methods currently used to control robots from Earth and robots in Earth orbit.

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

NASA Technical Reports Server (NTRS)

Song, Y. D.; Middleton, R. H.

1992-01-01

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

NASA Astrophysics Data System (ADS)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

Control strategies for effective robot assisted gait rehabilitation: the state of art and future prospects.

PubMed

Cao, Jinghui; Xie, Sheng Quan; Das, Raj; Zhu, Guo L

2014-12-01

A large number of gait rehabilitation robots, together with a variety of control strategies, have been developed and evaluated during the last decade. Initially, control strategies applied to rehabilitation robots were adapted from those applied to traditional industrial robots. However, these strategies cannot optimise effectiveness of gait rehabilitation. As a result, researchers have been investigating control strategies tailored for the needs of rehabilitation. Among these control strategies, assisted-as-needed (AAN) control is one of the most popular research topics in this field. AAN training strategies have gained the theoretical and practical evidence based backup from motor learning principles and clinical studies. Various approaches to AAN training have been proposed and investigated by research groups all around the world. This article presents a review on control algorithms of gait rehabilitation robots to summarise related knowledge and investigate potential trends of development. There are existing review papers on control strategies of rehabilitation robots. The review by Marchal-Crespo and Reinkensmeyer (2009) had a broad cover of control strategies of all kinds of rehabilitation robots. Hussain et al. (2011) had specifically focused on treadmill gait training robots and covered a limited number of control implementations on them. This review article encompasses more detailed information on control strategies for robot assisted gait rehabilitation, but is not limited to treadmill based training. It also investigates the potential to further develop assist-as-needed gait training based on assessments of patients' ability. In this paper, control strategies are generally divided into the trajectory tracking control and AAN control. The review covers these two basic categories, as well as other control algorithm and technologies derived from them, such as biofeedback control. Assessments on human gait ability are also included to investigate how to further develop implementations based on assist-as-needed concept. For the consideration of effectiveness, clinical studies on robotic gait rehabilitation are reviewed and analysed from the viewpoint of control algorithm. Copyright © 2014 IPEM. Published by Elsevier Ltd. All rights reserved.

Method for neural network control of motion using real-time environmental feedback

NASA Technical Reports Server (NTRS)

Buckley, Theresa M. (Inventor)

1997-01-01

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

Software development to support sensor control of robot arc welding

NASA Technical Reports Server (NTRS)

Silas, F. R., Jr.

1986-01-01

The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.

Astronomy from the chair - the application of the Internet in promoting of Astronomy

NASA Astrophysics Data System (ADS)

Tomic, Zoran

2014-05-01

Internet and modern communication technologies are an indispensable part of modern life. The use of the Internet makes it possible to enhance the education and expand opportunities for acquiring new knowledge. One example is Astronomy, where today thanks to the Internet, we can control telescopes that are distant from us and listen to lectures from Universities in other countries. "Astronomy from the chair" is the name for a concept where amateur astronomers can deal with astronomy from their homes using the Internet. The concept can be divided into four sections depending on the content being offered: Robotic Observatory, Virtual Observatory, Online astronomy broadcasting and Online courses. Robotic observatory is defined as an astronomical instrument and detection system that enables efficient observation without the need of a person's physical intervention. Virtual Observatory is defined as a collection of databases and software tools that use the Internet as a platform for scientific research. Online astronomy broadcasting is part of concept "Astronomy from the chair" which gives users the opportunity to get directly involved in astronomical observation organized by an amateur astronomer from somewhere in the world. Online courses are groups of sites and organizations that provide the opportunity to amateur astronomers to attend lectures, save and watch video materials from lectures, do homework, communicate with other seminar participants and in that way become familiar with the various areas of Astronomy. This paper discusses a new concept that describes how the Internet can be applied in modern education. In this paper will be described projects that allows a large number of astronomy lovers to do their own research without the need to own a large and expensive set of astronomical equipment (Virtual Telescope from Italy, Observatory "Night Hawk" from Serbia and project "Astronomy from an armchair" at Faculty of Sciences and Mathematics in Nis), to help professional astronomers in research of galaxies, extrasolar systems, Moon etc. without the need of owning the official certificate in Astronomy (Planet Hunters, Moon Zoo) and the possibility to attend online courses in Astronomy (Introduction to Astronomy from the site Coursera). In the end, will be discussion about economic analysis of using robotic observatory in contemporary education and the implementation of research projects, rather than Institutions to invest huge amounts of funds in the purchase and maintenance of the same astronomical equipment.

Kinematic control of robot with degenerate wrist

NASA Technical Reports Server (NTRS)

Barker, L. K.; Moore, M. C.

1984-01-01

Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

Research on Snake-Like Robot with Controllable Scales

NASA Astrophysics Data System (ADS)

Chen, Kailin; Zhao, Yuting; Chen, Shuping

The purpose of this paper is to propose a new structure for a snake-like robot. This type of snake-like robot is different from the normal snake-like robot because it has lots of controllable scales which have a large role in helping moving. Besides, a new form of robot gait named as linear motion mode is developed based on theoretical analysis for the new mechanical structure. Through simulation and analysis in simmechanics of matlab, we proved the validity of theories about the motion mode of snake-like robot. The proposed machine construction and control method for the designed motion is verified experimentally by the independent developed snake robot.

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.

Progress Report for the Robotic Intelligence Evaluation. Program Year 1: Developing Test Methodology for Anti-Rollover Systems

DTIC Science & Technology

2006-06-01

Scientific Research. 5PAM-Crash is a trademark of the ESI Group . 6MATLAB and SIMULINK are registered trademarks of the MathWorks. 14 maneuvers...Laboratory (ARL) to develop methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots...methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots acting as a team to perform a

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

PubMed Central

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-01-01

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

Proposal of Path Following and Arrival Judgement Methods Using Target Vector for Teleoperation of a Mobile Robot on Uneven Ground by Image Pointing

NASA Astrophysics Data System (ADS)

Tamura, Sho; Maeyama, Shoichi

Rescue robots have been actively developed since Hanshin-Awaji (Kobe) Earthquake. Recently, the rescue robot to reduce the risk of the secondary disaster on NBC terror and critical accident is also developed. For such a background, the development project of mobile RT system in the collapsed is started. This research also participates in this project. It is useful to use the image pointing for the control interface of the rescue robot because it can control the robot by the simple operation. However, the conventional method cannot work on a rough terrain. In this research, we propose the system which controls the robot to arrive the target position on the rough terrain. It is constructed the methods which put the destination into the vector, and control the 3D localizated robot to follow the vector. Finally, the proposed system is evaluated through experiments by remote control of a mobile robot in slope and cofirmed the feasibility.

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

PubMed

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-03-25

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.

Biologically-inspired hexapod robot design and simulation

NASA Technical Reports Server (NTRS)

Espenschied, Kenneth S.; Quinn, Roger D.

1994-01-01

The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results.

Configuration-Control Scheme Copes With Singularities

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Colbaugh, Richard D.

1993-01-01

Improved configuration-control scheme for robotic manipulator having redundant degrees of freedom suppresses large joint velocities near singularities, at expense of small trajectory errors. Provides means to enforce order of priority of tasks assigned to robot. Basic concept of configuration control of redundant robot described in "Increasing The Dexterity Of Redundant Robots" (NPO-17801).

Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot

PubMed Central

Ho, Mingyen; Kim, Yeongjin; Cheng, Shing Shin; Gullapalli, Rao; Desai, Jaydev P.

2015-01-01

In this paper, we present our work on the development of a magnetic resonance imaging (MRI)-compatible Minimally Invasive Neurosurgical Intracranial Robot (MINIR) comprising of shape memory alloy (SMA) spring actuators and tendon-sheath mechanism. We present the detailed modeling and analysis along with experimental results of the characterization of SMA spring actuators. Furthermore, to demonstrate image-feedback control, we used the images obtained from a camera to control the motion of the robot so that eventually continuous MR images could be used in the future to control the robot motion. Since the image tracking algorithm may fail in some situations, we also developed a temperature feedback control scheme which served as a backup controller for the robot. Experimental results demonstrated that both image feedback and temperature feedback can be used to control the motion of MINIR. A series of MRI compatibility tests were performed on the robot and the experimental results demonstrated that the robot is MRI compatible and no significant visual image distortion was observed in the MR images during robot operation. PMID:26622075

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.

Global TIE Observatories: Real Time Observational Astronomy Through a Robotic Telescope Network

NASA Astrophysics Data System (ADS)

Clark, G.; Mayo, L. A.

2001-12-01

Astronomy in grades K-12 is traditionally taught (if at all) using textbooks and a few simple hands-on activities. Teachers are generally not trained in observational astronomy techniques and are unfamiliar with the most basic astronomical concepts. In addition, most students, by High School graduation, will never have even looked through the eyepiece of a telescope. The problem becomes even more challenging in inner cities, remote rural areas and low socioeconomic communities where educational emphasis on topics in astronomy as well as access to observing facilities is limited or non existent. Access to most optical telescope facilities is limited to monthly observing nights that cater to a small percentage of the general public living near the observatory. Even here, the observing experience is a one-time event detached from the process of scientific enquiry and sustained educational application. Additionally, a number of large, "research grade" observatory facilities are largely unused, partially due to the slow creep of light pollution around the facilities as well as the development of newer, more capable telescopes. Though cutting edge science is often no longer possible at these sights, real research opportunities in astronomy remain numerous for these facilities as educational tools. The possibility now exists to establish a network of research grade telescopes, no longer useful to the professional astronomical community, that can be made accessible through classrooms, after school, and community based programs all across the country through existing IT technologies and applications. These telescopes could provide unparalleled research and educational opportunities for a broad spectrum of students and turns underutilized observatory facilities into valuable, state-of-the-art teaching centers. The NASA sponsored Telescopes In Education project has been wildly successful in engaging the K-12 education community in real-time, hands-on, interactive astronomy activities. Hundreds of schools in the US, Australia, Canada, England, and Japan have participated in the TIE program, remotely controlling the 24-inch telescope at the Mount Wilson Observatory from their classrooms. In recent years, several (approximately 20 to date) other telescopes have been, or are in the process of being, outfitted for remote use as TIE affiliates. Global TIE integrates these telescopes seamlessly into one virtual observatory and provides the services required to operate this facility, including a scheduling service, tools for data manipulation, an online proposal review environment, an online "Virtual TIE Student Ap J" for publication of results, and access to related educational materials provided by the TIE community. This presentation describes the Global TIE Observatory data and organizational systems and details the technology, partnerships, operational capabilities, science applications, and learning opportunities that this powerful virtual observatory network will provide.

Design And Control Of Agricultural Robot For Tomato Plants Treatment And Harvesting

NASA Astrophysics Data System (ADS)

Sembiring, Arnes; Budiman, Arif; Lestari, Yuyun D.

2017-12-01

Although Indonesia is one of the biggest agricultural country in the world, implementation of robotic technology, otomation and efficiency enhancement in agriculture process hasn’t extensive yet. This research proposed a low cost agricultural robot architecture. The robot could help farmer to survey their farm area, treat the tomato plants and harvest the ripe tomatoes. Communication between farmer and robot was facilitated by wireless line using radio wave to reach wide area (120m radius). The radio wave was combinated with Bluetooth to simplify the communication between robot and farmer’s Android smartphone. The robot was equipped with a camera, so the farmers could survey the farm situation through 7 inch monitor display real time. The farmers controlled the robot and arm movement through an user interface in Android smartphone. The user interface contains control icons that allow farmers to control the robot movement (formard, reverse, turn right and turn left) and cut the spotty leaves or harvest the ripe tomatoes.

Bio-robots automatic navigation with electrical reward stimulation.

PubMed

Sun, Chao; Zhang, Xinlu; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2012-01-01

Bio-robots that controlled by outer stimulation through brain computer interface (BCI) suffer from the dependence on realtime guidance of human operators. Current automatic navigation methods for bio-robots focus on the controlling rules to force animals to obey man-made commands, with animals' intelligence ignored. This paper proposes a new method to realize the automatic navigation for bio-robots with electrical micro-stimulation as real-time rewards. Due to the reward-seeking instinct and trial-and-error capability, bio-robot can be steered to keep walking along the right route with rewards and correct its direction spontaneously when rewards are deprived. In navigation experiments, rat-robots learn the controlling methods in short time. The results show that our method simplifies the controlling logic and realizes the automatic navigation for rat-robots successfully. Our work might have significant implication for the further development of bio-robots with hybrid intelligence.

Building adaptive connectionist-based controllers: review of experiments in human-robot interaction, collective robotics, and computational neuroscience

NASA Astrophysics Data System (ADS)

Billard, Aude

2000-10-01

This paper summarizes a number of experiments in biologically inspired robotics. The common feature to all experiments is the use of artificial neural networks as the building blocks for the controllers. The experiments speak in favor of using a connectionist approach for designing adaptive and flexible robot controllers, and for modeling neurological processes. I present 1) DRAMA, a novel connectionist architecture, which has general property for learning time series and extracting spatio-temporal regularities in multi-modal and highly noisy data; 2) Robota, a doll-shaped robot, which imitates and learns a proto-language; 3) an experiment in collective robotics, where a group of 4 to 15 Khepera robots learn dynamically the topography of an environment whose features change frequently; 4) an abstract, computational model of primate ability to learn by imitation; 5) a model for the control of locomotor gaits in a quadruped legged robot.

Review of control strategies for robotic movement training after neurologic injury.

PubMed

Marchal-Crespo, Laura; Reinkensmeyer, David J

2009-06-16

There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies.

Review of control strategies for robotic movement training after neurologic injury

PubMed Central

Marchal-Crespo, Laura; Reinkensmeyer, David J

2009-01-01

There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies. PMID:19531254

Long-term monitoring of blazars - the DWARF network

NASA Astrophysics Data System (ADS)

Backes, Michael; Biland, Adrian; Boller, Andrea; Braun, Isabel; Bretz, Thomas; Commichau, Sebastian; Commichau, Volker; Dorner, Daniela; von Gunten, Hanspeter; Gendotti, Adamo; Grimm, Oliver; Hildebrand, Dorothée; Horisberger, Urs; Krähenbühl, Thomas; Kranich, Daniel; Lustermann, Werner; Mannheim, Karl; Neise, Dominik; Pauss, Felicitas; Renker, Dieter; Rhode, Wolfgang; Rissi, Michael; Rollke, Sebastian; Röser, Ulf; Stark, Luisa Sabrina; Stucki, Jean-Pierre; Viertel, Gert; Vogler, Patrick; Weitzel, Quirin

The variability of the very high energy (VHE) emission from blazars seems to be connected with the feeding and propagation of relativistic jets and with their origin in supermassive black hole binaries. The key to understanding their properties is measuring well-sampled gamma-ray lightcurves, revealing the typical source behavior unbiased by prior knowledge from other wavebands. Using ground-based gamma-ray observatories with exposures limited by dark-time, a global network of several telescopes is needed to carry out fulltime measurements. Obviously, such observations are time-consuming and, therefore, cannot be carried out with the present state of the art instruments. The DWARF telescope on the Canary Island of La Palma is dedicated to monitoring observations. It is currently being set up, employing a costefficient and robotic design. Part of this project is the future construction of a distributed network of small telescopes. The physical motivation of VHE long-term monitoring will be outlined in detail and the perspective for a network for 24/7 observations will be presented.

Astro STARS Camp

NASA Image and Video Library

2011-06-28

Tom Nicolaides, an aerospace technologist in the Engineering & Test Directorate at Stennis Space Center, looks on as 2011 Astro STARS participants take turns gazing at the sun through a special telescope. The sun-gazing activity was part of the Astro STARS (Spaceflight, Technology, Astronomy & Robotics at Stennis) camp for 13-to-15-year-olds June 27 - July 1. The weeklong science and technology camp is held each year onsite at the rocket engine test facility.

Some aspects of robotics calibration, design and control

NASA Technical Reports Server (NTRS)

Tawfik, Hazem

1990-01-01

The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided.

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.

Design and real-time control of a robotic system for fracture manipulation.

PubMed

Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

2015-08-01

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

Modeling and controlling a robotic convoy using guidance laws strategies.

PubMed

Belkhouche, Fethi; Belkhouche, Boumediene

2005-08-01

This paper deals with the problem of modeling and controlling a robotic convoy. Guidance laws techniques are used to provide a mathematical formulation of the problem. The guidance laws used for this purpose are the velocity pursuit, the deviated pursuit, and the proportional navigation. The velocity pursuit equations model the robot's path under various sensors based control laws. A systematic study of the tracking problem based on this technique is undertaken. These guidance laws are applied to derive decentralized control laws for the angular and linear velocities. For the angular velocity, the control law is directly derived from the guidance laws after considering the relative kinematics equations between successive robots. The second control law maintains the distance between successive robots constant by controlling the linear velocity. This control law is derived by considering the kinematics equations between successive robots under the considered guidance law. Properties of the method are discussed and proven. Simulation results confirm the validity of our approach, as well as the validity of the properties of the method. Index Terms-Guidance laws, relative kinematics equations, robotic convoy, tracking.

A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

PubMed

Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

2017-08-01

Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

Direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Formalization, implementation, and modeling of institutional controllers for distributed robotic systems.

PubMed

Pereira, José N; Silva, Porfírio; Lima, Pedro U; Martinoli, Alcherio

2014-01-01

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persistent artificial modifications made to the environment or to the internal mechanisms of a subset of agents, thought to be functional for the collective order. In this article we introduce a formal model of institutional controllers based on Petri nets. We define executable Petri nets-an extension of Petri nets that takes into account robot actions and sensing-to design, program, and execute institutional controllers. We use a generalized stochastic Petri net view of the robot team controlled by the institutional controllers to model and analyze the stochastic performance of the resulting distributed robotic system. The ability of our formalism to replicate results obtained using other approaches is assessed through realistic simulations of up to 40 e-puck robots. In particular, we model a robot swarm and its institutional controller with the goal of maintaining wireless connectivity, and successfully compare our model predictions and simulation results with previously reported results, obtained by using finite state automaton models and controllers.

Adaptive model-based assistive control for pneumatic direct driven soft rehabilitation robots.

PubMed

Wilkening, Andre; Ivlev, Oleg

2013-06-01

Assistive behavior and inherent compliance are assumed to be the essential properties for effective robot-assisted therapy in neurological as well as in orthopedic rehabilitation. This paper presents two adaptive model-based assistive controllers for pneumatic direct driven soft rehabilitation robots that are based on separated models of the soft-robot and the patient's extremity, in order to take into account the individual patient's behavior, effort and ability during control, what is assumed to be essential to relearn lost motor functions in neurological and facilitate muscle reconstruction in orthopedic rehabilitation. The high inherent compliance of soft-actuators allows for a general human-robot interaction and provides the base for effective and dependable assistive control. An inverse model of the soft-robot with estimated parameters is used to achieve robot transparency during treatment and inverse adaptive models of the individual patient's extremity allow the controllers to learn on-line the individual patient's behavior and effort and react in a way that assist the patient only as much as needed. The effectiveness of the controllers is evaluated with unimpaired subjects using a first prototype of a soft-robot for elbow training. Advantages and disadvantages of both controllers are analyzed and discussed.

Monitoring of comets activity and composition with the TRAPPIST-North telescope

NASA Astrophysics Data System (ADS)

Moulane, Y.; Benkhaldoun, Z.; Jehin, E.; Opitom, C.; Gillon, M.; Daassou, A.

2017-06-01

TRAPPIST-North (TRAnsiting Planets and PlanetesImals Small Telescope) is a 60-cm robotic telescope that was installed in May 2016 at the Oukaimeden Observatory [1]. The project is led by the University of Liège (Belgium) and the Caddi Ayad University of Marrakech (Morocco). This telescope is a twin of the TRAPPIST-South telescope, which was installed at the ESO La Silla Observatory in 2010 [2]. The TRAPPIST telescopes are dedicated to the detection and characterization of planets orbiting stars other than our Sun (exoplanets) and the study of comets and other small bodies in our solar system. For the comets research, these telescopes have very sensitive CCD cameras with complete sets of narrow band filters to measure the production rates of several gases (OH, NH, CN, C3 and C2) and the dust [3]. With TRAPPIST-North we can also observe comets that would not be visible in the southern hemisphere. Therfore, with these two telescopes, we can now observe continuously the comets around their orbit. We project to study individually the evolution of the activity, chemical composition, dust properties, and coma morphology of several comets per year and of different origins (New comets and Jupiter Family comets) over a wide range of heliocentric distances, and on both sides of perihelion. We measure the production rates of each daughter molecules using a Haser model [4], in addition to the Afρ parameter to estimate the dust production in the coma. In this work, we present the first measurements of the production rates of comet C/2013 X1 (PANSTARRS) observed with TN in June 2016, and the measurements of comet C/2013 V5 (Oukaimeden) observed in 2014 with TRAPPIST-South.

Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

NASA Astrophysics Data System (ADS)

Panfil, Wawrzyniec; Moczulski, Wojciech

2017-10-01

In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

Space Station Upgrades Continue on This Week @NASA – March 31, 2017

NASA Image and Video Library

2017-03-31

Work continues aboard the International Space Station on upgrades to prepare it for future operational activities. Ground controllers, using the station’s robotic arm, moved the Pressurized Mating Adapter-3 (PMA-3) from the Tranquility module to the station’s Harmony module March 26. PMA-3 will be outfitted with one of two International Docking Adapters to accommodate U.S. commercial spacecraft carrying astronauts on future missions. Four days after the PMA-3 move, NASA’s Shane Kimbrough and Peggy Whitson conducted the second in a series of three planned spacewalks to complete work related to the upgrades. The third spacewalk is planned in April. Also, James Webb Space Telescope Completes Acoustic and Vibration Tests, MAVEN Data Helps Measure Loss of Mars’ Atmosphere, Getting Excited About STEM, and New NASA App for Amazon Fire TV!

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Master-slave robotic system for needle indentation and insertion.

PubMed

Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan

2017-12-01

Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.

Telescoping magnetic ball bar test gage

DOEpatents

Bryan, J.B.

1982-03-15

A telescoping magnetic ball bar test gage for determining the accuracy of machine tools, including robots, and those measuring machines having non-disengagable servo drives which cannot be clutched out. Two gage balls are held and separated from one another by a telescoping fixture which allows them relative radial motional freedom but not relative lateral motional freedom. The telescoping fixture comprises a parallel reed flexure unit and a rigid member. One gage ball is secured by a magnetic socket knuckle assembly which fixes its center with respect to the machine being tested. The other gage ball is secured by another magnetic socket knuckle assembly which is engaged or held by the machine in such manner that the center of that ball is directed to execute a prescribed trajectory, all points of which are equidistant from the center of the fixed gage ball. As the moving ball executes its trajectory, changes in the radial distance between the centers of the two balls caused by inaccuracies in the machine are determined or measured by a linear variable differential transformer (LVDT) assembly actuated by the parallel reed flexure unit. Measurements can be quickly and easily taken for multiple trajectories about several different fixed ball locations, thereby determining the accuracy of the machine.

Searching for optical transients in real-time : the RAPTOR experiment /.

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

Vestrand, W. T.; Borozdin, K. N.; Brumby, Steven P.

2002-01-01

A rich, but relatively unexplored, region in optical astronomy is the study of transients with durations of less than a day. We describe a wide-field optical monitoring system, RAPTOR, which is designed to identify and make follow-up observations of optical transients in real-time. The system is composed of an array of telescopes that continuously monitor about 1500 square degrees of the sky for transients down to about 12' magnitude in 60 seconds and a central fovea telescope that can reach 16{approx}m' agnitude in 60 seconds. Coupled to the telescope array is a real-time data analysis pipeline that is designed tomore » identify transients on timescales of seconds. In a manner analogous to human vision, the entire array is mounted on a rapidly slewing robotic mount so that the fovea of the array can be rapidly directed at transients identified by the wide-field system. The goal of the project is to develop a ground-based optical system that can reliably identify transients in real-time and ultimately generate alerts with source locations to enable follow-up observations wilh other, larger, telescopes.« less

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology

NASA Technical Reports Server (NTRS)

Tesar, Delbert

1997-01-01

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

System Design and Performance of the Two-Gyro Science Mode For the Hubble Space Telescope

NASA Technical Reports Server (NTRS)

Prior, Michael; Dunham, Larry

2005-01-01

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST's end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.

System Design and Performance of the Two-Gyro Science Mode For the Hubble Space Telescope

NASA Technical Reports Server (NTRS)

Prior, Michael; Dunham, Larry

2005-01-01

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST s end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.

Research and development of service robot platform based on artificial psychology

NASA Astrophysics Data System (ADS)

Zhang, Xueyuan; Wang, Zhiliang; Wang, Fenhua; Nagai, Masatake

2007-12-01

Some related works about the control architecture of robot system are briefly summarized. According to the discussions above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture, the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application layer and system inspection and control layer. This paper shows how to achieve system integration from hardware modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs. The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.

Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

ERIC Educational Resources Information Center

dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

2017-01-01

Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

Effect of a human-type communication robot on cognitive function in elderly women living alone.

PubMed

Tanaka, Masaaki; Ishii, Akira; Yamano, Emi; Ogikubo, Hiroki; Okazaki, Masatsugu; Kamimura, Kazuro; Konishi, Yasuharu; Emoto, Shigeru; Watanabe, Yasuyoshi

2012-09-01

Considering the high prevalence of dementia, it would be of great value to develop effective tools to improve cognitive function. We examined the effects of a human-type communication robot on cognitive function in elderly women living alone. In this study, 34 healthy elderly female volunteers living alone were randomized to living with either a communication robot or a control robot at home for 8 weeks. The shape, voice, and motion features of the communication robot resemble those of a 3-year-old boy, while the control robot was not designed to talk or nod. Before living with the robot and 4 and 8 weeks after living with the robot, experiments were conducted to evaluate a variety of cognitive functions as well as saliva cortisol, sleep, and subjective fatigue, motivation, and healing. The Mini-Mental State Examination score, judgement, and verbal memory function were improved after living with the communication robot; those functions were not altered with the control robot. In addition, the saliva cortisol level was decreased, nocturnal sleeping hours tended to increase, and difficulty in maintaining sleep tended to decrease with the communication robot, although alterations were not shown with the control. The proportions of the participants in whom effects on attenuation of fatigue, enhancement of motivation, and healing could be recognized were higher in the communication robot group relative to the control group. This study demonstrates that living with a human-type communication robot may be effective for improving cognitive functions in elderly women living alone.

Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

PubMed

Hongbo Wang; Kosuge, K

2012-01-01

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

Efficient Control Law Simulation for Multiple Mobile Robots

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

Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.

1998-10-06

In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The timemore » to calculate the control law for each robot at each time step is demonstrated to be O(logN).« less

A Proposed Robotic Astronomy Mission to the Lunar South Polar Regions

NASA Technical Reports Server (NTRS)

Lowman, Paul D., Jr.

2003-01-01

This paper outlines a possible mission to emplace a robotic infrared / submillimeter wave interferometer array near the lunar south pole. This region has now been investigated by the Clementine and Lunar Prospector missions, and by Earth-based radar, and its topography and thermal environment are fairly well-known. The area would be exceptionally suitable for infrared / submillimeter astronomy because of the continually low temperatures, approaching that of liquid nitrogen (77K) in some places. A submillimeter spaceborne interferometer mission, Submillimeter Probe of the Evolution of the Cosmic Structure (SPECS) has been proposed by John Mather and others, covering the 40 - 500 micron region with 3 formation flying telescopes. The present paper proposes a lunar adaptation of the SPECS concept, LSPECS. This adaptation would involve landing 4 telescopes on the area north of Shackleton crater at zero degrees longitude. This is in nearly year round darkness but is continually radar visible from Earth. The landed payload of LSPECS would include a telerobotic rover, 4 three meter submm telescopes, a solar power array to be emplaced on the continually sunlit north rim of Shackleton crater, and an S-band antenna for data relay to Earth. Passive cooling without the use of expendable cryogenics. might be possible, trading long exposure time for instrument temperatures above that of liquid helium. The LSPECS would permit long-term study of an extremely wide range of cosmic and solar system phenomena in the southern celestial hemisphere. For complete sky coverage, a similar installation near the north pole would be required. The LSPECS site would also be suitable other types of observation, such as optical interferometry or centimeter wavelength radio astronomy. The lunar south pole is also of great interest because of its extensive ice deposits, which may represent cometary infall with pre-biotic compounds.

Complete low-cost implementation of a teleoperated control system for a humanoid robot.

PubMed

Cela, Andrés; Yebes, J Javier; Arroyo, Roberto; Bergasa, Luis M; Barea, Rafael; López, Elena

2013-01-24

Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot's back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.

Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

PubMed Central

Cela, Andrés; Yebes, J. Javier; Arroyo, Roberto; Bergasa, Luis M.; Barea, Rafael; López, Elena

2013-01-01

Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot's back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system. PMID:23348029

Fast Paced, Low Cost Projects at MSFC

NASA Technical Reports Server (NTRS)

Watson-Morgan, Lisa; Clinton, Raymond

2012-01-01

What does an orbiting microsatellite, a robotic lander and a ruggedized camera and telescope have in common? They are all fast paced, low cost projects managed by Marshall Space Flight Center (MSFC) teamed with successful industry partners. MSFC has long been synonymous with human space flight large propulsion programs, engineering acumen and risk intolerance. However, there is a growing portfolio/product line within MSFC that focuses on these smaller, fast paced projects. While launching anything into space is expensive, using a managed risk posture, holding to schedule and keeping costs low by stopping at egood enough f were key elements to their success. Risk is defined as the possibility of loss or failure per Merriam Webster. The National Aeronautics and Space Administration (NASA) defines risk using procedural requirement 8705.4 and establishes eclasses f to discern the acceptable risk per a project. It states a Class D risk has a medium to significant risk of not achieving mission success. MSFC, along with industry partners, has created a niche in Class D efforts. How did the big, cautious MSFC succeed on these projects that embodied the antithesis of its heritage in human space flight? A key factor toward these successful projects was innovative industry partners such as Dynetics Corporation, University of Alabama in Huntsville (UAHuntsville), Johns Hopkins Applied Physics Laboratory (JHU APL), Teledyne Brown Engineering (TBE), Von Braun Center for Science and Innovation (VCSI), SAIC, and Jacobs. Fast Affordable Satellite Technology (FastSat HSV01) is a low earth orbit microsatellite that houses six instruments with the primary scientific objective of earth observation and technology demonstration. The team was comprised of Dynetics, UAHuntsvile, SAIC, Goddard Space Flight Center (GSFC) and VCSI with the United States Air Force Space Test Program as the customer. The team completed design, development, manufacturing, environmental test and integration in one year. FastSat HSV01 also deployed a Poly Picosatellite Orbital Deployer (PPOD) for a separate nano ]satellite class spacecraft (Cubesat: Nano Sail Demonstration) in partnership with Ames Research Center. The Robotic lunar lander is a MSFC JHU APL partnership that led to the development of a flexible architecture for landers to support robotic missions to a wide range of lunar and asteroid destinations. The team started with the goal of meeting NASA agency directives that led to the creation of a test bed focusing on GN&C and software to demonstrate the descent and landing on any airless body for the final 30 to 60 meters. The team created a complex technology demonstration as well as Guidance Control and Navigation (GN&C) algorithms providing autonomous control of the lander. The team uses a green propellant of 90% hydrogen peroxide and has completed 18 successful test flights. The International Space Station (ISS) SERVIR Environmental Research and Visualization System (ISERV) is a technology demonstration payload to assist the SERVIR project with environmental monitoring for disaster relief and humanitarian efforts. The ISERV project was a partnership with TBE. The ISERV payload consists of a commercial off the shelf camera, telescope, and MSFC developed power distribution box and interfaces on ISS with the Window Observational Research Facility in the US Lab. MSFC has identified three key areas that enabled the low cost mission success to include culture, partnering, and cost/schedule control. This paper will briefly discuss these three Class D efforts, FastSat HSV-01, the Robotic Lunar Lander and the ISERV camera system, the lessons learned, their successes and challenges.

A Human Factors Analysis of Proactive Support in Human-Robot Teaming

DTIC Science & Technology

2015-09-28

teammate is remotely controlling a robot while working with an intelligent robot teammate ‘Mary’. Our main result shows that the subjects generally...IEEE/RSJ Intl. Conference on Intelligent Robots and Systems Conference Date: September 28, 2015 A Human Factors Analysis of Proactive Support in Human...human teammate is remotely controlling a robot while working with an intelligent robot teammate ‘Mary’. Our main result shows that the subjects

Development of 6-DOF painting robot control system

NASA Astrophysics Data System (ADS)

Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

2017-01-01

With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

PubMed

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

The impact of networks of robotic telescopes in continuous monitoring of high energy cosmic sources

NASA Astrophysics Data System (ADS)

Giovannelli, Franco; Sabau-Graziati, Lola

High energy (HE) cosmic sources are characterized by emissions in a wide range of the electromagnetic spectrum. In order to clarify their behavior and understand the involved physics it is necessary to perform simultaneous measurements in a range of energy as wide as possible. This makes it necessary to use different techniques and instrumentation both space- and ground-based. Simultaneous observations are in general very difficult to be performed because they need the involvement of many instruments that belong to many experiments under the control of many groups and countries. However, since the importance of multifrequency measurements is now universally recognized, many efforts are made in order to obtain such measurements. Our group has been a pioneer in such a kind of measurements since middle of 1970s. We will briefly discuss the impact of such measurements in different class of HE cosmic sources, such as T Tauri stars (TTSs), active galactic nuclei (AGNs), gamma-ray bursts (GRBs), X-ray binary systems (XRBs), and cataclysmic variables (CVs). This discussion is mainly based on the review paper "The impact of the space experiments on our knowledge of the physics of the universe" tep{GiovannelliSabauGraziati2004} and subsequent revisions. We will also discuss the importance of having a network of robotic telescopes that can provide long term optical monitoring of the classes of HE sources already discussed. Such measurements will provide fundamental data for understanding many problems that are still open, such as the physics of the outbursts in flaring systems, the search of rotational periods of white dwarfs in CVs and orbital periods of those systems, rotational periods and periodicities of flare-like events of TTSs, correlations between optical and X-ray flares in X-ray/Be systems, fluctuations in the light curves of AGNs and their correlations with the HE emission in order to test the validity of current models, etc.

Improving the transparency of a rehabilitation robot by exploiting the cyclic behaviour of walking.

PubMed

van Dijk, W; van der Kooij, H; Koopman, B; van Asseldonk, E H F; van der Kooij, H

2013-06-01

To promote active participation of neurological patients during robotic gait training, controllers, such as "assist as needed" or "cooperative control", are suggested. Apart from providing support, these controllers also require that the robot should be capable of resembling natural, unsupported, walking. This means that they should have a transparent mode, where the interaction forces between the human and the robot are minimal. Traditional feedback-control algorithms do not exploit the cyclic nature of walking to improve the transparency of the robot. The purpose of this study was to improve the transparent mode of robotic devices, by developing two controllers that use the rhythmic behavior of gait. Both controllers use adaptive frequency oscillators and kernel-based non-linear filters. Kernelbased non-linear filters can be used to estimate signals and their time derivatives, as a function of the gait phase. The first controller learns the motor angle, associated with a certain joint angle pattern, and acts as a feed-forward controller to improve the torque tracking (including the zero-torque mode). The second controller learns the state of the mechanical system and compensates for the dynamical effects (e.g. the acceleration of robot masses). Both controllers have been tested separately and in combination on a small subject population. Using the feedforward controller resulted in an improved torque tracking of at least 52 percent at the hip joint, and 61 percent at the knee joint. When both controllers were active simultaneously, the interaction power between the robot and the human leg was reduced by at least 40 percent at the thigh, and 43 percent at the shank. These results indicate that: if a robotic task is cyclic, the torque tracking and transparency can be improved by exploiting the predictions of adaptive frequency oscillator and kernel-based nonlinear filters.

Tool actuation and force feedback on robot-assisted microsurgery system

NASA Technical Reports Server (NTRS)

Das, Hari (Inventor); Ohm, Tim R. (Inventor); Boswell, Curtis D. (Inventor); Steele, Robert D. (Inventor)

2002-01-01

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Comparison of two techniques of robot-aided upper limb exercise training after stroke.

PubMed

Stein, Joel; Krebs, Hermano Igo; Frontera, Walter R; Fasoli, Susan E; Hughes, Richard; Hogan, Neville

2004-09-01

This study examined whether incorporating progressive resistive training into robot-aided exercise training provides incremental benefits over active-assisted robot-aided exercise for the upper limb after stroke. A total of 47 individuals at least 1 yr poststroke were enrolled in this 6-wk training protocol. Paretic upper limb motor abilities were evaluated using clinical measures and a robot-based assessment to determine eligibility for robot-aided progressive resistive training at study entry. Subjects capable of participating in resistance training were randomized to receive either active-assisted robot-aided exercises or robot-aided progressive resistance training. Subjects who were incapable of participating in resistance training underwent active-assisted robotic therapy and were again screened for eligibility after 3 wks of robotic therapy. Those subjects capable of participating in resistance training at 3 wks were then randomized to receive either robot-aided resistance training or to continue with robot-aided active-assisted training. One subject withdrew due to unrelated medical issues, and data for the remaining 46 subjects were analyzed. Subjects in all groups showed improvement in measures of motor control (mean increase in Fugl-Meyer of 3.3; 95% confidence interval, 2.2-4.4) and maximal force (mean increase in maximal force of 3.5 N, P = 0.027) over the course of robot-aided exercise training. No differences in outcome measures were observed between the resistance training groups and the matched active-assisted training groups. Subjects' ability to perform the robotic task at the time of group assignment predicted the magnitude of the gain in motor control. The incorporation of robot-aided progressive resistance exercises into a program of robot-aided exercise did not favorably or negatively affect the gains in motor control or strength associated with this training, though interpretation of these results is limited by sample size. Individuals with better motor control at baseline experienced greater increases in motor control with robotic training.

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.

Semi-manual mastoidectomy assisted by human-robot collaborative control - A temporal bone replica study.

PubMed

Lim, Hoon; Matsumoto, Nozomu; Cho, Byunghyun; Hong, Jaesung; Yamashita, Makoto; Hashizume, Makoto; Yi, Byung-Ju

2016-04-01

To develop an otological robot that can protect important organs from being injured. We developed a five degree-of-freedom robot for otological surgery. Unlike the other robots that were reported previously, our robot does not replace surgeon's procedures, but instead utilizes human-robot collaborative control. The robot basically releases all of the actuators so that the surgeon can manipulate the drill within the robot's working area with minimal restriction. When the drill reaches a forbidden area, the surgeon feels as if the drill hits a wall. When an engineer performed mastoidectomy using the robot for assistance, the facial nerve in the segmented region was always protected with a more than 2.5mm margin, which was almost the same as the pre-set safety margin of 3mm. Semi-manual drilling using human-robot collaborative control was feasible, and may hold a realistic prospect of clinical use in the near future. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot.

PubMed

Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

2018-02-01

This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.

Lyapunov vector function method in the motion stabilisation problem for nonholonomic mobile robot

NASA Astrophysics Data System (ADS)

Andreev, Aleksandr; Peregudova, Olga

2017-07-01

In this paper we propose a sampled-data control law in the stabilisation problem of nonstationary motion of nonholonomic mobile robot. We assume that the robot moves on a horizontal surface without slipping. The dynamical model of a mobile robot is considered. The robot has one front free wheel and two rear wheels which are controlled by two independent electric motors. We assume that the controls are piecewise constant signals. Controller design relies on the backstepping procedure with the use of Lyapunov vector-function method. Theoretical considerations are verified by numerical simulation.

Manipulator control and mechanization: A telerobot subsystem

NASA Technical Reports Server (NTRS)

Hayati, S.; Wilcox, B.

1987-01-01

The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration.

PubMed

Melidis, Christos; Iizuka, Hiroyuki; Marocco, Davide

2018-05-01

In this paper, we present a novel approach to human-robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems.

Comparison of human and humanoid robot control of upright stance.

PubMed

Peterka, Robert J

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Positive position control of robotic manipulators

NASA Technical Reports Server (NTRS)

Baz, A.; Gumusel, L.

1989-01-01

The present, simple and accurate position-control algorithm, which is applicable to fast-moving and lightly damped robot arms, is based on the positive position feedback (PPF) strategy and relies solely on position sensors to monitor joint angles of robotic arms to furnish stable position control. The optimized tuned filters, in the form of a set of difference equations, manipulate position signals for robotic system performance. Attention is given to comparisons between this PPF-algorithm controller's experimentally ascertained performance characteristics and those of a conventional proportional controller.

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.

Comparison of tongue interface with keyboard for control of an assistive robotic arm.

PubMed

Struijk, Lotte N S Andreasen; Lontis, Romulus

2017-07-01

This paper demonstrates how an assistive 6 DoF robotic arm with a gripper can be controlled manually using a tongue interface. The proposed method suggests that it possible for a user to manipulate the surroundings with his or her tongue using the inductive tongue control system as deployed in this study. The sensors of an inductive tongue-computer interface were mapped to the Cartesian control of an assistive robotic arm. The resulting control system was tested manually in order to compare manual control of the robot using a standard keyboard and using the tongue interface. Two healthy subjects controlled the robotic arm to precisely move a bottle of water from one location to another. The results shows that the tongue interface was able to fully control the robotic arm in a similar manner as the standard keyboard resulting in the same number of successful manipulations and an average increase in task duration of up to 30% as compared with the standard keyboard.

Controlling legs for locomotion-insights from robotics and neurobiology.

PubMed

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Kinematic equations for resolved-rate control of an industrial robot arm

NASA Technical Reports Server (NTRS)

Barker, L. K.

1983-01-01

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Cooperative system and method using mobile robots for testing a cooperative search controller

DOEpatents

Byrne, Raymond H.; Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.

2002-01-01

A test system for testing a controller provides a way to use large numbers of miniature mobile robots to test a cooperative search controller in a test area, where each mobile robot has a sensor, a communication device, a processor, and a memory. A method of using a test system provides a way for testing a cooperative search controller using multiple robots sharing information and communicating over a communication network.

Brain-controlled telepresence robot by motor-disabled people.

PubMed

Tonin, Luca; Carlson, Tom; Leeb, Robert; del R Millán, José

2011-01-01

In this paper we present the first results of users with disabilities in mentally controlling a telepresence robot, a rather complex task as the robot is continuously moving and the user must control it for a long period of time (over 6 minutes) to go along the whole path. These two users drove the telepresence robot from their clinic more than 100 km away. Remarkably, although the patients had never visited the location where the telepresence robot was operating, they achieve similar performances to a group of four healthy users who were familiar with the environment. In particular, the experimental results reported in this paper demonstrate the benefits of shared control for brain-controlled telepresence robots. It allows all subjects (including novel BMI subjects as our users with disabilities) to complete a complex task in similar time and with similar number of commands to those required by manual control.

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Strawser, Philip A. (Inventor); Yamokoski, John D. (Inventor)

2013-01-01

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Compliance control based on PSO algorithm to improve the feeling during physical human-robot interaction.

PubMed

Jiang, Zhongliang; Sun, Yu; Gao, Peng; Hu, Ying; Zhang, Jianwei

2016-01-01

Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move according to the force. First, a spring-mass-dashpot system was used to describe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the state space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain the system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper. Ultimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our team, and the result shows that the new controller performs better during human-robot interaction.

Serendipitous Offline Learning in a Neuromorphic Robot.

PubMed

Stewart, Terrence C; Kleinhans, Ashley; Mundy, Andrew; Conradt, Jörg

2016-01-01

We demonstrate a hybrid neuromorphic learning paradigm that learns complex sensorimotor mappings based on a small set of hard-coded reflex behaviors. A mobile robot is first controlled by a basic set of reflexive hand-designed behaviors. All sensor data is provided via a spike-based silicon retina camera (eDVS), and all control is implemented via spiking neurons simulated on neuromorphic hardware (SpiNNaker). Given this control system, the robot is capable of simple obstacle avoidance and random exploration. To train the robot to perform more complex tasks, we observe the robot and find instances where the robot accidentally performs the desired action. Data recorded from the robot during these times is then used to update the neural control system, increasing the likelihood of the robot performing that task in the future, given a similar sensor state. As an example application of this general-purpose method of training, we demonstrate the robot learning to respond to novel sensory stimuli (a mirror) by turning right if it is present at an intersection, and otherwise turning left. In general, this system can learn arbitrary relations between sensory input and motor behavior.

Benefits and problems of health-care robots in aged care settings: A comparison trial.

PubMed

Broadbent, Elizabeth; Kerse, Ngaire; Peri, Kathryn; Robinson, Hayley; Jayawardena, Chandimal; Kuo, Tony; Datta, Chandan; Stafford, Rebecca; Butler, Haley; Jawalkar, Pratyusha; Amor, Maddy; Robins, Ben; MacDonald, Bruce

2016-03-01

This study investigated whether multiple health-care robots could have any benefits or cause any problems in an aged care facility. Fifty-three residents and 53 staff participated in a non-randomised controlled trial over 12 weeks. Six robots provided entertainment, communication and health-monitoring functions in staff rooms and activity lounges. These settings were compared to control settings without robots. There were no significant differences between groups in resident or staff outcomes, except a significant increase in job satisfaction in the control group only. The intervention group perceived the robots had more agency and experience than the control group did. Perceived agency of the robots decreased over time in both groups. Overall, we received very mixed responses with positive, neutral and negative comments. The robots had no major benefits or problems. Future research could give robots stronger operational roles, use more specific outcome measures, and perform cost-benefit analyses. © 2015 AJA Inc.

Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

NASA Astrophysics Data System (ADS)

Murata, Naoya; Katsura, Seiichiro

Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

Autonomous stair-climbing with miniature jumping robots.

PubMed

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

PubMed

Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

2017-07-01

This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Stiffness Control of Surgical Continuum Manipulators

PubMed Central

Mahvash, Mohsen; Dupont, Pierre E.

2013-01-01

This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions. PMID:24273466