Robots in space into the 21st century

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

The Role of Robots and Automation in Space

NASA Technical Reports Server (NTRS)

Heer, E.

1978-01-01

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

Manned spacecraft automation and robotics

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1987-01-01

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

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

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1994-01-01

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

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

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

KC-135 materials handling robotics

NASA Technical Reports Server (NTRS)

Workman, Gary L.

1991-01-01

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

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

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

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.

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

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.

Space environments and their effects on space automation and robotics

NASA Technical Reports Server (NTRS)

Garrett, Henry B.

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

Price, Charles R.; Grimm, Keith

1995-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Voellmer, George

1997-01-01

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

A Modular Robotic System with Applications to Space Exploration

NASA Technical Reports Server (NTRS)

Hancher, Matthew D.; Hornby, Gregory S.

2006-01-01

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

Transformers: Shape-Changing Space Systems Built with Robotic Textiles

NASA Technical Reports Server (NTRS)

Stoica, Adrian

2013-01-01

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

NASA Center for Intelligent Robotic Systems for Space Exploration

NASA Technical Reports Server (NTRS)

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1988-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

The Design, Planning and Control of Robotic Systems in Space

NASA Technical Reports Server (NTRS)

Dubowsky, Steven

1996-01-01

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

Toolkits Control Motion of Complex Robotics

NASA Technical Reports Server (NTRS)

2010-01-01

That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson's Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.

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.

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

NASA Technical Reports Server (NTRS)

1987-01-01

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

Automation and robotics for the National Space Program

NASA Technical Reports Server (NTRS)

1985-01-01

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

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

NASA Technical Reports Server (NTRS)

Varsi, G.; Herman, D. H.

1986-01-01

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

Physical and digital simulations for IVA robotics

NASA Technical Reports Server (NTRS)

Hinman, Elaine; Workman, Gary L.

1992-01-01

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

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

NASA Technical Reports Server (NTRS)

Fernandez, Ken

1988-01-01

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

Control of intelligent robots in space

NASA Technical Reports Server (NTRS)

Freund, E.; Buehler, CH.

1989-01-01

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

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Robonaut: a robot designed to work with humans in space

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

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

PubMed

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

2003-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

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

NASA Astrophysics Data System (ADS)

Park, W. T.; Firschein, O.

1985-12-01

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

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

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

Conference on Space and Military Applications of Automation and Robotics

NASA Technical Reports Server (NTRS)

1988-01-01

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

RoMPS concept review automatic control of space robot

NASA Technical Reports Server (NTRS)

1991-01-01

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

The next decade of space robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave; Weisbin, Charles

1994-01-01

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

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

DTIC Science & Technology

1989-12-28

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

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

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

Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

NASA Technical Reports Server (NTRS)

Goddard, Charles O.

2012-01-01

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

The evolution of automation and robotics in manned spaceflight

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

A perspective on space robotics in Japan

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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

PubMed

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

2014-08-15

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

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

PubMed Central

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

2014-01-01

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

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.

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

DTIC Science & Technology

1988-03-01

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

New luster for space robots and automation

NASA Technical Reports Server (NTRS)

Heer, E.

1978-01-01

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

Machine intelligence and autonomy for aerospace systems

NASA Technical Reports Server (NTRS)

Heer, Ewald (Editor); Lum, Henry (Editor)

1988-01-01

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

Use of 3D vision for fine robot motion

NASA Technical Reports Server (NTRS)

Lokshin, Anatole; Litwin, Todd

1989-01-01

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

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

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.

1995-01-01

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

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

NASA Astrophysics Data System (ADS)

Rembala, Richard; Ower, Cameron

2009-10-01

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

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

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Special requirements for electronics to be used in robots in space

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

Sias, F.R.

1994-12-31

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

Modelling cooperation of industrial robots as multi-agent systems

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

A mobile robot system for ground servicing operations on the space shuttle

NASA Astrophysics Data System (ADS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-11-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

A mobile robot system for ground servicing operations on the space shuttle

NASA Technical Reports Server (NTRS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-01-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

Robotics in space-age manufacturing

NASA Technical Reports Server (NTRS)

Jones, Chip

1991-01-01

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

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.

Innovative Robot Archetypes for In-Space Construction and Maintenance

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.

1986-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1985-01-01

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

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

NASA Technical Reports Server (NTRS)

Cheatham, John B.

1991-01-01

Research activity has shifted from computer graphics and vision systems to the broader scope of applying concepts of artificial intelligence to robotics. Specifically, the research is directed toward developing Artificial Neural Networks, Expert Systems, and Laser Imaging Techniques for Autonomous Space Robots.

Modular Track System For Positioning Mobile Robots

NASA Technical Reports Server (NTRS)

Miller, Jeff

1995-01-01

Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Space telerobotic systems: Applications and concepts

NASA Technical Reports Server (NTRS)

Jenkins, L.

1987-01-01

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

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

NASA Technical Reports Server (NTRS)

Chen, Alexander Y.

1990-01-01

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

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

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

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

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1994-01-01

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

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

NASA Technical Reports Server (NTRS)

1979-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Fong, Terrence; Nourbakhsh, Illah

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

Nunamaker, Robert R.; Willshire, Kelli F.

1988-01-01

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

NASA Project Constellation Systems Engineering Approach

NASA Technical Reports Server (NTRS)

Dumbacher, Daniel L.

2005-01-01

NASA's Office of Exploration Systems (OExS) is organized to empower the Vision for Space Exploration with transportation systems that result in achievable, affordable, and sustainable human and robotic journeys to the Moon, Mars, and beyond. In the process of delivering these capabilities, the systems engineering function is key to implementing policies, managing mission requirements, and ensuring technical integration and verification of hardware and support systems in a timely, cost-effective manner. The OExS Development Programs Division includes three main areas: (1) human and robotic technology, (2) Project Prometheus for nuclear propulsion development, and (3) Constellation Systems for space transportation systems development, including a Crew Exploration Vehicle (CEV). Constellation Systems include Earth-to-orbit, in-space, and surface transportation systems; maintenance and science instrumentation; and robotic investigators and assistants. In parallel with development of the CEV, robotic explorers will serve as trailblazers to reduce the risk and costs of future human operations on the Moon, as well as missions to other destinations, including Mars. Additional information is included in the original extended abstract.

Forming Human-Robot Teams Across Time and Space

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Applications of artificial intelligence to space station and automated software techniques: High level robot command language

NASA Technical Reports Server (NTRS)

Mckee, James W.

1989-01-01

The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

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

NASA Technical Reports Server (NTRS)

Underwood, James

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1982-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Weeks, David J.

1990-01-01

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

An Interactive Astronaut-Robot System with Gesture Control

PubMed Central

Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

2016-01-01

Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system. PMID:27190503

Robotics development for the enhancement of space endeavors

NASA Astrophysics Data System (ADS)

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

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

Advantages of Science Cubesat and Microsat Deployment Using DSG Deep Space Exploration Robotics

NASA Astrophysics Data System (ADS)

Shaw, A.; Rembala, R.; Fulford, P.

2018-02-01

Important scientific missions can be accomplished with cubesats/microsats. These missions would benefit from advantages offered by having an independent cubesat/microsat deployment capability as part of Deep Space Gateway's Deep Space Exploration Robotics system.

Task path planning, scheduling and learning for free-ranging robot systems

NASA Technical Reports Server (NTRS)

Wakefield, G. Steve

1987-01-01

The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

High precision detector robot arm system

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

Shu, Deming; Chu, Yong

A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

A bio-inspired electrocommunication system for small underwater robots.

PubMed

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

NASA Technical Reports Server (NTRS)

Phillips, Warren F.

1989-01-01

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

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

NASA Technical Reports Server (NTRS)

Cheatham, John B.

1991-01-01

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

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

NASA Technical Reports Server (NTRS)

Varsi, Giulio; Herman, Daniel H.

1988-01-01

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

Robonaut: A Robotic Astronaut Assistant

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Diftler, Myron A.

2001-01-01

NASA's latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two, seven DOF arms, giving it an impressive work space for interacting with its environment. Its two, five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems.

Development of Advanced Robotic Hand System for space application

NASA Technical Reports Server (NTRS)

Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

1994-01-01

The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

PubMed Central

Gorostiza, Ernesto Martín; Galilea, José Luis Lázaro; Meca, Franciso Javier Meca; Monzú, David Salido; Zapata, Felipe Espinosa; Puerto, Luis Pallarés

2011-01-01

The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage) and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems. PMID:22163907

An integrated dexterous robotic testbed for space applications

NASA Technical Reports Server (NTRS)

Li, Larry C.; Nguyen, Hai; Sauer, Edward

1992-01-01

An integrated dexterous robotic system was developed as a testbed to evaluate various robotics technologies for advanced space applications. The system configuration consisted of a Utah/MIT Dexterous Hand, a PUMA 562 arm, a stereo vision system, and a multiprocessing computer control system. In addition to these major subsystems, a proximity sensing system was integrated with the Utah/MIT Hand to provide capability for non-contact sensing of a nearby object. A high-speed fiber-optic link was used to transmit digitized proximity sensor signals back to the multiprocessing control system. The hardware system was designed to satisfy the requirements for both teleoperated and autonomous operations. The software system was designed to exploit parallel processing capability, pursue functional modularity, incorporate artificial intelligence for robot control, allow high-level symbolic robot commands, maximize reusable code, minimize compilation requirements, and provide an interactive application development and debugging environment for the end users. An overview is presented of the system hardware and software configurations, and implementation is discussed of subsystem functions.

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

NASA Astrophysics Data System (ADS)

Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

2018-03-01

This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

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

1985-01-01

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

Supervisory autonomous local-remote control system design: Near-term and far-term applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul

1993-01-01

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Recent Advances in Nuclear Powered Electric Propulsion for Space Exploration

NASA Technical Reports Server (NTRS)

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

2007-01-01

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

The Design, Planning and Control of Robotic Systems in Space

NASA Technical Reports Server (NTRS)

Dubowsky, Steven

1996-01-01

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total funding we received under this grant represented approximately one year of the original, proposed and approved, funding. For some time, there was substantial uncertainty that even this very reduced level of funding would be provided. The spending of the reduced available funds was spread just over two years to provide the support to permit the MS students who had joined the program to receive their master's degree and terminate their studies in this area.

Robust coordinated control of a dual-arm space robot

NASA Astrophysics Data System (ADS)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

Human-rating Automated and Robotic Systems - (How HAL Can Work Safely with Astronauts)

NASA Technical Reports Server (NTRS)

Baroff, Lynn; Dischinger, Charlie; Fitts, David

2009-01-01

Long duration human space missions, as planned in the Vision for Space Exploration, will not be possible without applying unprecedented levels of automation to support the human endeavors. The automated and robotic systems must carry the load of routine housekeeping for the new generation of explorers, as well as assist their exploration science and engineering work with new precision. Fortunately, the state of automated and robotic systems is sophisticated and sturdy enough to do this work - but the systems themselves have never been human-rated as all other NASA physical systems used in human space flight have. Our intent in this paper is to provide perspective on requirements and architecture for the interfaces and interactions between human beings and the astonishing array of automated systems; and the approach we believe necessary to create human-rated systems and implement them in the space program. We will explain our proposed standard structure for automation and robotic systems, and the process by which we will develop and implement that standard as an addition to NASA s Human Rating requirements. Our work here is based on real experience with both human system and robotic system designs; for surface operations as well as for in-flight monitoring and control; and on the necessities we have discovered for human-systems integration in NASA's Constellation program. We hope this will be an invitation to dialog and to consideration of a new issue facing new generations of explorers and their outfitters.

Astrobee: Space Station Robotic Free Flyer

NASA Technical Reports Server (NTRS)

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

2016-01-01

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

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

PubMed

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

Envisioning Cognitive Robots for Future Space Exploration

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Stoica, Adrian

2010-01-01

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

Experimental evaluation of a Dielectric Elastomer robotic arm for space applications

NASA Astrophysics Data System (ADS)

Branz, F.; Francesconi, A.

2017-04-01

A growing interest within the space community focuses on robotics due to the large number of possible applications in many mission scenarios. On-Orbit Servicing (OOS) is arguably the most appealing implementation of space automatic systems. In several cases, OOS requires the capture of orbital objects, which is a complex and risky operation that can be successfully performed by robotic manipulators. Soft robotics, in particular, seems to be suitable for such applications given its intrinsic compliance to the operative environment. Devices based on Dielectric Elastomers (DE) can be employed for the implementation of soft robotic systems and showed promising performances. The introduction of DEs to orbital systems would represent a breakthrough in space technologies. In addition, space conditions could further advantage DE robotics, given the reduced environmental loads experienced and the longer times for operations. Nevertheless, Dielectric Elastomer Actuators (DEA) are a low-TRL (Technology Readiness Level) technology that needs to prove its maturity and suitability to space implementation. In this work, the performances of a redundant manipulator based on DEAs are presented in terms of numerical and experimental results. A 4-DoF planar manipulator has been tested in a gravity-compensated setup. The system is composed by two double-cone actuators mounted in series, each of them providing actuation of two DoF. The end-effector is an optical marker whose position is detected by a vision system. The system has a total of four joint DoF and operates in the xy horizontal plane; only the x and y positions of the end-effector are controlled. Two degrees of redundancy are obtained and exploited for the optimization of joint torques to avoid the saturation of actuators. Numerical simulations have been conducted to predict the system behaviour. The laboratory facility emulates the zero-gravity orbital environment by means of a suspending cable. Detailed experimental results are presented and exploited for the validation of control algorithm and numerical models.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

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

Robotic experiment with a force reflecting handcontroller onboard MIR space station

NASA Technical Reports Server (NTRS)

Delpech, M.; Matzakis, Y.

1994-01-01

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

Testbed for remote telepresence research

NASA Astrophysics Data System (ADS)

Adnan, Sarmad; Cheatham, John B., Jr.

1992-11-01

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

A new method to evaluate human-robot system performance

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Weisbin, C. R.

2003-01-01

One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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.

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

Use of automation and robotics for the Space Station

NASA Technical Reports Server (NTRS)

Cohen, Aaron

1987-01-01

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

A situated reasoning architecture for space-based repair and replace tasks

NASA Technical Reports Server (NTRS)

Bloom, Ben; Mcgrath, Debra; Sanborn, Jim

1989-01-01

Space-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

Development of sensor augmented robotic weld systems for aerospace propulsion system fabrication

NASA Technical Reports Server (NTRS)

Jones, C. S.; Gangl, K. J.

1986-01-01

In order to meet stringent performance goals for power and reuseability, the Space Shuttle Main Engine was designed with many complex, difficult welded joints that provide maximum strength and minimum weight. To this end, the SSME requires 370 meters of welded joints. Automation of some welds has improved welding productivity significantly over manual welding. Application has previously been limited by accessibility constraints, requirements for complex process control, low production volumes, high part variability, and stringent quality requirements. Development of robots for welding in this application requires that a unique set of constraints be addressed. This paper shows how robotic welding can enhance production of aerospace components by addressing their specific requirements. A development program at the Marshall Space Flight Center combining industrial robots with state-of-the-art sensor systems and computer simulation is providing technology for the automation of welds in Space Shuttle Main Engine production.

Adaptive control of space based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

Co-op Essay - Tour 1

NASA Technical Reports Server (NTRS)

Porter, Derrick

2014-01-01

The Mission Operations Directorate (MOD) is responsible for the training, planning and performance of all U.S. manned operations in space. Within this directorate all responsibilities are divided up into divisions. The EVA, Robotics & Crew Systems Operations Division performs ground operations and trains astronauts to carry out some of the more "high action" procedures in space. For example they orchestrate procedures like EVAs, or ExtraVehicular Activities (spacewalks), and robotics operations external to the International Space Station (ISS). The robotics branch of this division is responsible for the use of the Mobile Servicing System (MSS). This system is a combination of two robotic mechanisms and a series of equipment used to transport them on the ISS. The MSS is used to capture and position visiting vehicles, transport astronauts during EVAs, and perform external maintenance tasks on the ISS. This branch consists of two groups which are responsible for crew training and flight controlling, respectively. My first co-op tour took place Fall 2013. During this time I was given the opportunity to work in the robotics operations branch of the Mission Operations Directorate at NASA's Johnson Space Center. I was given a variety of tasks that encompassed, at a base level, all the aspects of the branch.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

2013-01-01

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Adaptive servo control for umbilical mating

NASA Technical Reports Server (NTRS)

Zia, Omar

1988-01-01

Robotic applications at Kennedy Space Center are unique and in many cases require the fime positioning of heavy loads in dynamic environments. Performing such operations is beyond the capabilities of an off-the-shelf industrial robot. Therefore Robotics Applications Development Laboratory at Kennedy Space Center has put together an integrated system that coordinates state of the art robotic system providing an excellent easy to use testbed for NASA sensor integration experiments. This paper reviews the ways of improving the dynamic response of the robot operating under force feedback with varying dynamic internal perturbations in order to provide continuous stable operations under variable load conditions. The goal is to improve the stability of the system with force feedback using the adaptive control feature of existing system over a wide range of random motions. The effect of load variations on the dynamics and the transfer function (order or values of the parameters) of the system has been investigated, more accurate models of the system have been determined and analyzed.

Key technology issues for space robotic systems

NASA Technical Reports Server (NTRS)

Schappell, Roger T.

1987-01-01

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

KSC-07pd0454

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0452

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Hadfield works robotic controls in the Cupola Module

NASA Image and Video Library

2013-01-10

ISS034-E-027317 (10 Jan. 2013) --- In the Cupola aboard the Earth-orbiting International Space Station, Canadian Space Agency astronaut Chris Hadfield, Expedition 34 flight engineer, works the controls at the Robotic workstation to maneuver the Space Station Remote Manipulator System (SSRMS) or CanadArm2 from its parked position to grapple the Mobile Remote Servicer (MRS) Base System (MBS) Power and Data Grapple Fixture 4 (PDGF-4).

KSC-07pd0407

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers prepare the Remote Manipulator System, or robotic arm, for installation on the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0453

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0451

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0446

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0447

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0445

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, 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. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.

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

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Two modular neuro-fuzzy system for mobile robot navigation

NASA Astrophysics Data System (ADS)

Bobyr, M. V.; Titov, V. S.; Kulabukhov, S. A.; Syryamkin, V. I.

2018-05-01

The article considers the fuzzy model for navigation of a mobile robot operating in two modes. In the first mode the mobile robot moves along a line. In the second mode, the mobile robot looks for an target in unknown space. Structural and schematic circuit of four-wheels mobile robot are presented in the article. The article describes the movement of a mobile robot based on two modular neuro-fuzzy system. The algorithm of neuro-fuzzy inference used in two modular control system for movement of a mobile robot is given in the article. The experimental model of the mobile robot and the simulation of the neuro-fuzzy algorithm used for its control are presented in the article.

Human-Robot Control Strategies for the NASA/DARPA Robonaut

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Culbert, Chris J.; Ambrose, Robert O.; Huber, E.; Bluethmann, W. J.

2003-01-01

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

Adaptive Control Of Remote Manipulator

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

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

NASA Technical Reports Server (NTRS)

Myers, Dale

1987-01-01

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

A methodology to assess performance of human-robotic systems in achievement of collective tasks

NASA Technical Reports Server (NTRS)

Howard, Ayanna M.

2005-01-01

In this paper, we present a methodology to assess system performance of human-robotic systems in achievement of collective tasks such as habitat construction, geological sampling, and space exploration.

Humanoids Designed to do Work

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

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

NASA Technical Reports Server (NTRS)

1985-01-01

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

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

NASA Technical Reports Server (NTRS)

1990-01-01

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

In-Space Propulsion Technologies for Robotic Exploration of the Solar System

NASA Technical Reports Server (NTRS)

Johnson, Les; Meyer, Rae Ann; Frame, Kyle

2006-01-01

Supporting NASA's Science Mission Directorate, the In-Space Propulsion Technology Program is developing the next generation of space propulsion technologies for robotic, deep-space exploration. Recent technological advancements and demonstrations of key, high-payoff propulsion technologies have been achieved and will be described. Technologies under development and test include aerocapture, solar electric propulsion, solar sail propulsion, and advanced chemical propulsion.

Influence of control parameters on the joint tracking performance of a coaxial weld vision system

NASA Technical Reports Server (NTRS)

Gangl, K. J.; Weeks, J. L.

1985-01-01

The first phase of a series of evaluations of a vision-based welding control sensor for the Space Shuttle Main Engine Robotic Welding System is described. The robotic welding system is presently under development at the Marshall Space Flight Center. This evaluation determines the standard control response parameters necessary for proper trajectory of the welding torch along the joint.

On the manipulability of dual cooperative robots

NASA Technical Reports Server (NTRS)

Chiacchio, P.; Chiaverini, S.; Sciavicco, L.; Siciliano, B.

1989-01-01

The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

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

The use of computer graphic simulation in the development of on-orbit tele-robotic systems

NASA Technical Reports Server (NTRS)

Fernandez, Ken; Hinman, Elaine

1987-01-01

This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.

NASA Strategic Roadmap Committees Final Roadmaps. Volumes 1 and 2

NASA Technical Reports Server (NTRS)

2005-01-01

Volume 1 contains NASA strategic roadmaps for the following Advanced Planning and Integration Office (APIO) committees: Earth Science and Applications from Space; Sun - Solar System Connection. Volume 2 contains NASA strategic roadmaps for the following APIO committees: Robotic and Human Exploration of Mars; Solar System Exploration; Search for Earth-like Planets; Universe Exploration, as well as membership rosters and charters for all APIO committees, including those above and the following: Exploration Transportation System; Nuclear Systems; Robotic and Human Lunar Exploration; Aeronautical Technologies; Space Shuttle; International Space Station; Education.

Flight telerobotic servicer legacy

NASA Astrophysics Data System (ADS)

Shattuck, Paul L.; Lowrie, James W.

1992-11-01

The Flight Telerobotic Servicer (FTS) was developed to enhance and provide a safe alternative to human presence in space. The first step for this system was a precursor development test flight (DTF-1) on the Space Shuttle. DTF-1 was to be a pathfinder for manned flight safety of robotic systems. The broad objectives of this mission were three-fold: flight validation of telerobotic manipulator (design, control algorithms, man/machine interfaces, safety); demonstration of dexterous manipulator capabilities on specific building block tasks; and correlation of manipulator performance in space with ground predictions. The DTF-1 system is comprised of a payload bay element (7-DOF manipulator with controllers, end-of-arm gripper and camera, telerobot body with head cameras and electronics module, task panel, and MPESS truss) and an aft flight deck element (force-reflecting hand controller, crew restraint, command and display panel and monitors). The approach used to develop the DTF-1 hardware, software and operations involved flight qualification of components from commercial, military, space, and R controller, end-of-arm tooling, force/torque transducer) and the development of the telerobotic system for space applications. The system is capable of teleoperation and autonomous control (advances state of the art); reliable (two-fault tolerance); and safe (man-rated). Benefits from the development flight included space validation of critical telerobotic technologies and resolution of significant safety issues relating to telerobotic operations in the Shuttle bay or in the vicinity of other space assets. This paper discusses the lessons learned and technology evolution that stemmed from developing and integrating a dexterous robot into a manned system, the Space Shuttle. Particular emphasis is placed on the safety and reliability requirements for a man-rated system as these are the critical factors which drive the overall system architecture. Other topics focused on include: task requirements and operational concepts for servicing and maintenance of space platforms; origins of technology for dexterous robotic systems; issues associated with space qualification of components; and development of the industrial base to support space robotics.

FARMS: The Flexible Agricultural Robotics Manipulator

NASA Technical Reports Server (NTRS)

Gill, Paul S.

1991-01-01

A technology utilization project was established with the Marshall Space Flight Center and the University of Georgia to develop an Earth-based, robotic end effector to process live plant (geranium) material which will improve productivity and efficiency in agricultural systems such as commercial nurseries and greenhouse systems. The aim is to apply this technology to NASA's presence in space, including permanently manned space stations and manned planetary communities requiring large scale food production needs.

KSC-07pd0450

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, a worker helps to attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Robotic lunar exploration: Architectures, issues and options

NASA Astrophysics Data System (ADS)

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

2007-06-01

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

Fault-Tolerant Control For A Robotic Inspection System

NASA Technical Reports Server (NTRS)

Tso, Kam Sing

1995-01-01

Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

Systems integration for the Kennedy Space Center (KSC) Robotics Applications Development Laboratory (RADL)

NASA Technical Reports Server (NTRS)

Davis, V. Leon; Nordeen, Ross

1988-01-01

A laboratory for developing robotics technology for hazardous and repetitive Shuttle and payload processing activities is discussed. An overview of the computer hardware and software responsible for integrating the laboratory systems is given. The center's anthropomorphic robot is placed on a track allowing it to be moved to different stations. Various aspects of the laboratory equipment are described, including industrial robot arm control, smart systems integration, the supervisory computer, programmable process controller, real-time tracking controller, image processing hardware, and control display graphics. Topics of research include: automated loading and unloading of hypergolics for space vehicles and payloads; the use of mobile robotics for security, fire fighting, and hazardous spill operations; nondestructive testing for SRB joint and seal verification; Shuttle Orbiter radiator damage inspection; and Orbiter contour measurements. The possibility of expanding the laboratory in the future is examined.

Technology demonstration of space intravehicular automation and robotics

NASA Technical Reports Server (NTRS)

Morris, A. Terry; Barker, L. Keith

1994-01-01

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

Cable applications in robot compliant devices

NASA Technical Reports Server (NTRS)

Kerley, James J.

1987-01-01

Robotic systems need compliance to connect the robot to the work object. The cable system illustrated offers compliance for mating but can be changed in space to become quite stiff. Thus the same system can do both tasks, even in environments where the work object or robot are moving at different frequencies and different amplitudes. The adjustment can be made in all six degrees of freedom, translated in or rotated in any plane and still make a good contact and control.

Parallel-distributed mobile robot simulator

NASA Astrophysics Data System (ADS)

Okada, Hiroyuki; Sekiguchi, Minoru; Watanabe, Nobuo

1996-06-01

The aim of this project is to achieve an autonomous learning and growth function based on active interaction with the real world. It should also be able to autonomically acquire knowledge about the context in which jobs take place, and how the jobs are executed. This article describes a parallel distributed movable robot system simulator with an autonomous learning and growth function. The autonomous learning and growth function which we are proposing is characterized by its ability to learn and grow through interaction with the real world. When the movable robot interacts with the real world, the system compares the virtual environment simulation with the interaction result in the real world. The system then improves the virtual environment to match the real-world result more closely. This the system learns and grows. It is very important that such a simulation is time- realistic. The parallel distributed movable robot simulator was developed to simulate the space of a movable robot system with an autonomous learning and growth function. The simulator constructs a virtual space faithful to the real world and also integrates the interfaces between the user, the actual movable robot and the virtual movable robot. Using an ultrafast CG (computer graphics) system (FUJITSU AG series), time-realistic 3D CG is displayed.

Selected topics in robotics for space exploration

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

NASA Astrophysics Data System (ADS)

Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

2015-09-01

The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

Robotic Waterjet System

NASA Technical Reports Server (NTRS)

1996-01-01

NASA needed a way to safely strip old paint and thermal protection material from reusable components from the Space Shuttle; to meet this requirement, Marshall Space Flight Center teamed with United Technologies' USBI Company and developed a stripping system based on hydroblasting. United Technology spun off a new company, Waterjet Systems, to commercialize and market the technology. The resulting ARMS (Automated Robotic Maintenance Systems), employ waterblasts at 55,000 pounds per square inch controlled by target-sensitive robots. The systems are used on aircraft and engine parts, and the newest application is on ships, where it not only strips but catches the ensuing wastewater. This innovation results in faster, cheaper stripping with less clean-up and reduced environmental impact.

Development and validation of a low-cost mobile robotics testbed

NASA Astrophysics Data System (ADS)

Johnson, Michael; Hayes, Martin J.

2012-03-01

This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.

KSC-07pd2868

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is lowered toward the base for installation. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Regolith Advanced Surface Systems Operations Robot Excavator

NASA Technical Reports Server (NTRS)

Mueller, Robert P.; Smith, Jonathan D.; Ebert, Thomas; Cox, Rachel; Rahmatian, Laila; Wood, James; Schuler, Jason; Nick, Andrew

2013-01-01

The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.

KSC-08pd0606

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, an overhead crane moves the Special Purpose Dexterous Manipulator, known as Dextre, to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0608

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves nearer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0604

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0607

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves closer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

Tendon Driven Finger Actuation System

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Reich, David M. (Inventor); Bridgwater, Lyndon (Inventor); Linn, Douglas Martin (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor); Abdallah, Muhammad E. (Inventor);

Surface Support Systems for Co-Operative and Integrated Human/Robotic Lunar Exploration

NASA Technical Reports Server (NTRS)

Mueller, Robert P.

2006-01-01

Human and robotic partnerships to realize space goals can enhance space missions and provide increases in human productivity while decreasing the hazards that the humans are exposed to. For lunar exploration, the harsh environment of the moon and the repetitive nature of the tasks involved with lunar outpost construction, maintenance and operation as well as production tasks associated with in-situ resource utilization, make it highly desirable to use robotic systems in co-operation with human activity. A human lunar outpost is functionally examined and concepts for selected human/robotic tasks are discussed in the context of a lunar outpost which will enable the presence of humans on the moon for extended periods of time.

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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.

KSC-07pd0405

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0449

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0408

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0448

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0404

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Future of robotic space exploration: visions and prospects

NASA Astrophysics Data System (ADS)

Haidegger, Tamas

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

Space station automation and robotics study. Operator-systems interface

NASA Technical Reports Server (NTRS)

1984-01-01

This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

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

NASA Technical Reports Server (NTRS)

Heydorn, Richard P.

1987-01-01

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

The micro conical system: Lessons learned from a successful EVA/robot-compatible mechanism

NASA Technical Reports Server (NTRS)

Gittleman, Mark; Johnston, Alistair

1996-01-01

The Micro Conical System (MCS) is a three-part, multi-purpose mechanical interface system used for acquiring and manipulating masses on-orbit by either extravehicular activity (EVA) or telerobotic means. The three components of the system are the micro conical fitting (MCF), the EVA micro tool (EMCT), and the Robot Micro Conical Tool (RMCT). The MCS was developed and refined over a four-year period. This period culminated with the delivery of 358 Class 1 and Class 2 micro conical fittings for the International Space Station and with its first use in space to handle a 1272 kg (2800 lbm) Spartan satellite (11000 times greater than the MCF mass) during an EVA aboard STS-63 in February, 1995. The micro conical system is the first successful EVA/robot-compatible mechanism to be demonstrated in the external environment aboard the U.S. Space Shuttle.

A systematic approach to the application of Automation, Robotics, and Machine Intelligence Systems /ARAMIS/ to future space projects

NASA Technical Reports Server (NTRS)

Smith, D. B. S.

1982-01-01

The potential applications of Automation, Robotics, and Machine Intelligence Systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Apparatus for controlling system state based on unique identifiers

DOEpatents

Drotning, William D.

2002-01-01

An apparatus allows workers to assert and release control over the energization of a system. The apparatus does not require the workers to carry any additional paraphernalia, and is not be easily defeated by other workers. Users asserting and releasing control present tokens uniquely identifying each user to a reader, and the apparatus prevents transition of the system to an undesired state until an appropriate number of users are currently asserting control. For example, a dangerous manufacturing robot can be prevented from energizing until all the users that have asserted control when entering the robot's controlled space have subsequently released control when leaving the robot's controlled space.

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

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.

1987-01-01

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

Robot calibration with a photogrammetric on-line system using reseau scanning cameras

NASA Astrophysics Data System (ADS)

Diewald, Bernd; Godding, Robert; Henrich, Andreas

1994-03-01

The possibility for testing and calibration of industrial robots becomes more and more important for manufacturers and users of such systems. Exacting applications in connection with the off-line programming techniques or the use of robots as measuring machines are impossible without a preceding robot calibration. At the LPA an efficient calibration technique has been developed. Instead of modeling the kinematic behavior of a robot, the new method describes the pose deviations within a user-defined section of the robot's working space. High- precision determination of 3D coordinates of defined path positions is necessary for calibration and can be done by digital photogrammetric systems. For the calibration of a robot at the LPA a digital photogrammetric system with three Rollei Reseau Scanning Cameras was used. This system allows an automatic measurement of a large number of robot poses with high accuracy.

Self-Reconfigurable Robots

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

HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.

2002-10-01

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighborsmore » using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.« less

The 3D laser radar vision processor system

NASA Astrophysics Data System (ADS)

Sebok, T. M.

1990-10-01

Loral Defense Systems (LDS) developed a 3D Laser Radar Vision Processor system capable of detecting, classifying, and identifying small mobile targets as well as larger fixed targets using three dimensional laser radar imagery for use with a robotic type system. This processor system is designed to interface with the NASA Johnson Space Center in-house Extra Vehicular Activity (EVA) Retriever robot program and provide to it needed information so it can fetch and grasp targets in a space-type scenario.

The 3D laser radar vision processor system

NASA Technical Reports Server (NTRS)

Sebok, T. M.

1990-01-01

Loral Defense Systems (LDS) developed a 3D Laser Radar Vision Processor system capable of detecting, classifying, and identifying small mobile targets as well as larger fixed targets using three dimensional laser radar imagery for use with a robotic type system. This processor system is designed to interface with the NASA Johnson Space Center in-house Extra Vehicular Activity (EVA) Retriever robot program and provide to it needed information so it can fetch and grasp targets in a space-type scenario.

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

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

Jones, Ronald E.; Carter, Robert W.

2012-01-01

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

Automation and robotics - Key to productivity. [in industry and space

NASA Technical Reports Server (NTRS)

Cohen, A.

1985-01-01

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

Overview of the NASA automation and robotics research program

NASA Technical Reports Server (NTRS)

Holcomb, Lee; Larsen, Ron

1985-01-01

NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

Space robotic experiment in JEM flight demonstration

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

NASA SSA for Robotic Missions

NASA Technical Reports Server (NTRS)

Newman, Lauri K.

2009-01-01

This viewgraph presentation reviews NASA's Space Situational Awareness (SSA) activities as preparation for robotic missions and Goddard's role in this work. The presentation includes the preparations that Goddard Space Flight Center (GSFC) has made to provide consolidated space systems protection indluding consolidating GSFC support for Orbit Debris analysis, conjunction assessment and collision avoidance, commercial and foreign support, and protection of GSFC managed missions.

Kotov and Williams with SSRMS arm training session in Node 1 / Unity module

NASA Image and Video Library

2007-04-18

ISS014-E-19587 (17 April 2007) --- Cosmonaut Oleg V. Kotov (foreground), Expedition 15 flight engineer representing Russia's Federal Space Agency, and astronaut Sunita L. Williams, flight engineer, participate in a Space Station Remote Manipulator System (SSRMS) training session using the Robotic Onboard Trainer (ROBOT) simulator in the Unity node of the International Space Station.

KSC-2010-1193

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, space shuttle Atlantis' orbiter boom sensor system, or OBSS, awaits inspection. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

KSC-2010-1194

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, space shuttle Atlantis' orbiter boom sensor system, or OBSS, is prepared for maintenance. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

KSC-07pd2871

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2863

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is ready to be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2870

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2866

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

An Innovative 6-DOF Platform for Testing a Space Robotic System to Perform Contact Tasks in Zero-Gravity Environment

DTIC Science & Technology

2013-10-21

Platform for Testing a Space Robotic System to Perform Contact Tasks in Zero- Gravity Environment 5a. CONTRACT NUMBER FA9453-11-1-0306 5b...SUBJECT TERMS Microgravity, zero gravity , test platform, simulation, gravity offloading 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT...4  3.3  Principle of Gravity Offloading

Robotics research at Canadian Space Agency

NASA Technical Reports Server (NTRS)

Hui, Raymond

1994-01-01

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

Sensory substitution for space gloves and for space robots

NASA Technical Reports Server (NTRS)

Bach-Y-rita, P.; Webster, J. G.; Tompkins, W. J.; Crabb, T.

1987-01-01

Sensory substitution systems for space applications are described. Physical sensors replace missing human receptors and feed information to the interpretive centers of a different sense. The brain is plastic enough so that, with training, the subject localizes the input as if it were received through the missing receptors. Astronauts have difficulty feeling objects through space suit gloves because of their thickness and because of the 4.3 psi pressure difference. Miniature force sensors on the glove palm drive an electrotactile belt around the waist, thus augmenting the missing tactile sensation. A proposed teleoperator system with telepresence for a space robot would incorporate teleproprioception and a force sensor/electrotactile belt sensory substitution system for teletouch.

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.

KSC-08pd0605

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister at right for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

Free-floating dual-arm robots for space assembly

NASA Technical Reports Server (NTRS)

Agrawal, Sunil Kumar; Chen, M. Y.

1994-01-01

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine them into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.

Mission Use of the SpaceCube Hybrid Data Processing System

NASA Technical Reports Server (NTRS)

Petrick, Dave

2017-01-01

The award-winning SpaceCube v2.0 system is a high performance, reconfigurable, hybrid data processing system that can be used in a multitude of applications including those that require a radiation hardened and reliable solution. This presentation provides an overview of the design architecture, flexibility, and the advantages of the modular SpaceCube v2.0 high performance data processing system for space applications. The current state of the proven SpaceCube technology is based on 11 years of engineering and operations. Eight systems have been successfully operated in space starting in 2008 with eight more to be delivered for payload integration in 2018 in support of various missions. This presentation will highlight how this multipurpose system is currently being used to solve design challenges of a variety of independent applications. The SpaceCube hardware adapts to new system requirements by allowing for application-unique interface cards that are utilized by reconfiguring the underlying programmable elements on the core processor card. We will show how this system is being used to improve on a heritage NASA GPS technology, enable a cutting-edge LiDAR instrument, and serve as a typical command and data handling (CDH) computer for a space robotics technology demonstration.Finally, this presentation will highlight the use of the SpaceCube v2.0 system on the Restore-L robotic satellite servicing mission. SpaceCube v2.0 is the central avionics responsible for the real-time vision system and autonomous robotic control necessary to find, capture, and service a national asset weather satellite.

Space manufacturing in an automated crystal growth facility

NASA Technical Reports Server (NTRS)

Quinn, Alberta W.; Herrmann, Melody C.; Nelson, Pamela J.

1989-01-01

An account is given of a Space Station Freedom-based robotic laboratory system for crystal growth experiments; the robot must interface with both the experimental apparatus and such human input as may be required for control and display. The goal of the system is the simultaneous growth of several hundred protein crystals in microgravity. The robot possesses six degrees-of-freedom, allowing it to efficiently manipulate the cultured crystals as well as their respective growth cells; the crystals produced are expected to be of sufficiently high quality for complete structural determination on the basis of XRD.

Interaction Challenges in Human-Robot Space Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Nourbakhsh, Illah

2005-01-01

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

Mobile robot motion estimation using Hough transform

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Robotics in the Laboratory: A Generic Approach.

ERIC Educational Resources Information Center

Sharp, Robert L.; And Others

1988-01-01

Discusses the use of robotics in the analytical chemistry laboratory. Suggests using a modular setup to best use robots and laboratory space. Proposes a sample preparation system which can perform aliquot measurement, dilution, mixing, separation, and sample transfer. Recognizes attributes and shortcomings. (ML)

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras.

PubMed

Li, Zhenyu; Wang, Bin; Liu, Hong

2016-08-30

Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme.

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

PubMed Central

Li, Zhenyu; Wang, Bin; Liu, Hong

2016-01-01

Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme. PMID:27589748

GSFC Information Systems Technology Developments Supporting the Vision for Space Exploration

NASA Technical Reports Server (NTRS)

Hughes, Peter; Dennehy, Cornelius; Mosier, Gary; Smith, Dan; Rykowski, Lisa

2004-01-01

The Vision for Space Exploration will guide NASA's future human and robotic space activities. The broad range of human and robotic missions now being planned will require the development of new system-level capabilities enabled by emerging new technologies. Goddard Space Flight Center is actively supporting the Vision for Space Exploration in a number of program management, engineering and technology areas. This paper provides a brief background on the Vision for Space Exploration and a general overview of potential key Goddard contributions. In particular, this paper focuses on describing relevant GSFC information systems capabilities in architecture development; interoperable command, control and communications; and other applied information systems technology/research activities that are applicable to support the Vision for Space Exploration goals. Current GSFC development efforts and task activities are presented together with future plans.

A simple 5-DOF walking robot for space station application

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

NASA Technical Reports Server (NTRS)

Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

1995-01-01

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

A family of asymptotically stable control laws for flexible robots based on a passivity approach

NASA Technical Reports Server (NTRS)

Lanari, Leonardo; Wen, John T.

1991-01-01

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility.

A robotic system for automation of logistics functions on the Space Station

NASA Technical Reports Server (NTRS)

Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

1988-01-01

Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

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.

A Mobile Mixed-Reality Environment for Children's Storytelling Using a Handheld Projector and a Robot

ERIC Educational Resources Information Center

Sugimoto, Masanori

2011-01-01

This paper describes a system called GENTORO that uses a robot and a handheld projector for supporting children's storytelling activities. GENTORO differs from many existing systems in that children can make a robot play their own story in a physical space augmented by mixed-reality technologies. Pilot studies have been conducted to clarify the…

Robotics technology discipline

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

A strategy planner for NASA robotics applications

NASA Technical Reports Server (NTRS)

Brodd, S. S.

1985-01-01

Automatic strategy or task planning is an important element of robotics systems. A strategy planner under development at Goddard Space Flight Center automatically produces robot plans for assembly, disassembly, or repair of NASA spacecraft from computer aided design descriptions of the individual parts of the spacecraft.

Intelligent robotics can boost America's economic growth

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

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

In-Space Structural Assembly: Applications and Technology

NASA Technical Reports Server (NTRS)

Belvin, W. Keith; Doggett, Bill R.; Watson, Judith J.; Dorsey, John T.; Warren, Jay; Jones, Thomas C.; Komendera, Erik E.; Mann, Troy O.; Bowman, Lynn

2016-01-01

As NASA exploration moves beyond earth's orbit, the need exists for long duration space systems that are resilient to events that compromise safety and performance. Fortunately, technology advances in autonomy, robotic manipulators, and modular plug-and-play architectures over the past two decades have made in-space vehicle assembly and servicing possible at acceptable cost and risk. This study evaluates future space systems needed to support scientific observatories and human/robotic Mars exploration to assess key structural design considerations. The impact of in-space assembly is discussed to identify gaps in structural technology and opportunities for new vehicle designs to support NASA's future long duration missions.

Proceedings of the NASA Conference on Space Telerobotics, volume 4

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor); Seraji, Homayoun (Editor)

1989-01-01

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center.

Nonholonomic camera-space manipulation using cameras mounted on a mobile base

NASA Astrophysics Data System (ADS)

Goodwine, Bill; Seelinger, Michael J.; Skaar, Steven B.; Ma, Qun

1998-10-01

The body of work called `Camera Space Manipulation' is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. 3D `success' of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when there is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons; in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental `path dependent' nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

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

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

Pin, Francois G.

2002-06-01

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

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

NASA Technical Reports Server (NTRS)

Cohen, A.

1985-01-01

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

KSC-07pd2867

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved toward the base, in the background. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2869

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians aid with the lowering of the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, toward the base. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2864

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians adjust the cables of an overhead crane on the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre. The arm will be moved to and installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2865

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians begin raising the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, for its move across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

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.

3D printing of soft robotic systems

NASA Astrophysics Data System (ADS)

Wallin, T. J.; Pikul, J.; Shepherd, R. F.

2018-06-01

Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

Space-time modeling using environmental constraints in a mobile robot system

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1990-01-01

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

KSC-07pd0406

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers from the Japan Aerospace Exploration Agency watch from a control area as the Remote Manipulator System, or robotic arm, is attached to a hoisting device to prepare it for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Robots Would Couple And Uncouple Fluid And Electrical Lines

NASA Technical Reports Server (NTRS)

Del Castillo, Eduardo Lopez; Davis, Virgil; Ferguson, Bob; Reichle, Garland

1992-01-01

Robots make and break connections between umbilical plates and mating connectors on rockets about to be launched. Sensing and control systems include vision, force, and torque subsystems. Enhances safety by making it possible to couple and uncouple umbilical plates quickly, without exposing human technicians to hazards of leaking fuels and oxidizers. Significantly reduces time spent to manually connect umbilicals. Robots based on similar principles used in refueling of National AeroSpace Plane (NASP) and satellites and orbital transfer vehicles in space.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1988-01-01

The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.

A deformable spherical planet exploration robot

NASA Astrophysics Data System (ADS)

Liang, Yi-shan; Zhang, Xiu-li; Huang, Hao; Yang, Yan-feng; Jin, Wen-tao; Sang, Zhong-xun

2013-03-01

In this paper, a deformable spherical planet exploration robot has been introduced to achieve the task of environmental detection in outer space or extreme conditions. The robot imitates the morphology structure and motion mechanism of tumbleweeds. The robot is wind-driven. It consists of an axle, a spherical steel skeleton and twelve airbags. The axle is designed as two parts. The robot contracts by contracting the two-part axle. The spherical robot installs solar panels to provide energy for its control system.

International Space Station (ISS)

NASA Image and Video Library

2002-06-01

Pictured here is the Space Shuttle Orbiter Endeavour, STS-111 mission insignia. The International Space Station (ISS) recieved a new crew, Expedition Five, replacing Expedition Four after a record-setting 196 days in space, when STS-111 visited in June 2002. Three spacewalks enabled the STS-111 crew to accomplish additional mission objectives: the delivery and installation of a new platform for the ISS robotic arm, the Mobile Base System (MBS) which is an important part of the Station's Mobile Servicing System allowing the robotic arm to travel the length of the Station; the replacement of a wrist roll joint on the Station's robotic arm; and unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

NASA Astrophysics Data System (ADS)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

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

On-orbit spacecraft servicing: An element in the evolution of space robotics applications

NASA Technical Reports Server (NTRS)

Anders, Carl J.; Roy, Claude H.

1994-01-01

This paper addresses the renewed interest in on-orbit spacecraft servicing (OSS), and how it fits into the evolution of space applications for intelligent robots. Investment in the development of space robotics and associated technologies is growing as nations recognize that it is a critical component of the exploration and commercial development of space. At the same time, changes in world conditions have generated a renewal of the interest in OSS. This is reflected in the level of activity in the U.S., Japan and Europe in the form of studies and technology demonstration programs. OSS is becoming widely accepted as an opportunity in the evolution of space robotics applications. Importantly, it is a feasible proposition with current technologies and the direction of ongoing research and development activities. Interest in OSS dates back more than two decades, and several programs have been initiated, but no operational system has come on line, arguably with the Shuttle as the exception. With new opportunities arising, however, a fresh look at the feasibility of OSS is warranted. This involves the resolution of complex market, technical and political issues, through market studies, economic analyses, mission requirement definitions, trade studies, concept designs and technology demonstrations. System architectures for OSS are strongly dependent on target spacecraft design and launch delivery systems. Performance and cost factors are currently forcing significant changes in these areas. This presents both challenges and opportunities in the provision of OSS services. In conclusion, there is no question OSS will become a reality, but only when the technical feasibility is combined with either economic viability or political will. In the evolution of space robotics satellite servicing can become the next step towards its eventual role in support of planetary exploration and human beings' journey out into the universe.

A hazard control system for robot manipulators

NASA Technical Reports Server (NTRS)

Carter, Ruth Chiang; Rad, Adrian

1991-01-01

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

Automation, robotics, and inflight training for manned Mars missions

NASA Technical Reports Server (NTRS)

Holt, Alan C.

1986-01-01

The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

Dual use display systems for telerobotics

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

This paper describes a telerobotics display system, the Multi-mode Manipulator Display System (MMDS), that has applications for a variety of remotely controlled tasks. Designed primarily to assist astronauts with the control of space robotics systems, the MMDS has applications for ground control of space robotics as well as for toxic waste cleanup, undersea, remotely operated vehicles, and other environments which require remote operations. The MMDS has three modes: (1) Manipulator Position Display (MPD) mode, (2) Joint Angle Display (JAD) mode, and (3) Sensory Substitution (SS) mode. These three modes are discussed in the paper.

The Charlotte (TM) intra-vehicular robot

NASA Technical Reports Server (NTRS)

Swaim, Patrick L.; Thompson, Clark J.; Campbell, Perry D.

1994-01-01

NASA has identified telerobotics and telescience as essential technologies to reduce the crew extra-vehicular activity (EVA) and intra-vehicular activity (IVA) workloads. Under this project, we are developing and flight testing a novel IVA robot to relieve the crew of tedious and routine tasks. Through ground telerobotic control of this robot, we will enable ground researchers to routinely interact with experiments in space. Our approach is to develop an IVA robot system incrementally by employing a series of flight tests with increasing complexity. This approach has the advantages of providing an early IVA capability that can assist the crew, demonstrate capabilities that ground researchers can be confident of in planning for future experiments, and allow incremental refinement of system capabilities and insertion of new technology. In parallel with this approach to flight testing, we seek to establish ground test beds, in which the requirements of payload experimenters can be further investigated. In 1993 we reviewed manifested SpaceHab experiments and defined IVA robot requirements to assist in their operation. We also examined previous IVA robot designs and assessed them against flight requirements. We rejected previous design concepts on the basis of threat to crew safety, operability, and maintainability. Based on this insight, we developed an entirely new concept for IVA robotics, the CHARLOTTE robot system. Ground based testing of a prototype version of the system has already proven its ability to perform most common tasks demanded of the crew, including operation of switches, buttons, knobs, dials, and performing video surveys of experiments and switch panels.

Decentralized control algorithms of a group of vehicles in 2D space

NASA Astrophysics Data System (ADS)

Pshikhopov, V. K.; Medvedev, M. Y.; Fedorenko, R. V.; Gurenko, B. V.

2017-02-01

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots' models, including robots in the three-dimensional environment.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1989-01-01

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

Manufacturing implementation of off-line programming for the Space Shuttle Main Engines

NASA Technical Reports Server (NTRS)

Sliwinski, K. E.; Pierson, B. L.; Anderson, R. R.; Guthmiller, W. A.

1989-01-01

An account is given of the efforts made to implement an off-line programming (OLP) system for a gas tungsten arc welding robot in actual manufacturing operations, namely those involved in the manufacture of the SSMEs. In conjunction with a real-time sensor control system, the OLP constitutes the Advanced Robotic Welding System, or 'AROWS'. OLP's task is to develop a robot-motion path without the initial use of the robot to 'teach' the characteristics of such motion; actual process parameters are recorded by OLP and correlated with the position along the weld.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

International Space Station (ISS)

NASA Image and Video Library

2002-06-07

Pictured here is the forward docking port on the International Space Station's (ISS) Destiny Laboratory as seen by one of the STS-111 crewmembers from the Space Shuttle Orbiter Endeavour just prior to docking. In June 2002, STS-111 provided the Space Station with a new crew, Expedition Five, replacing Expedition Four after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish additional mission objectives: the delivery and installation of a new platform for the ISS robotic arm, the Mobile Base System (MBS) which is an important part of the Station's Mobile Servicing System allowing the robotic arm to travel the length of the Station; the replacement of a wrist roll joint on the Station's robotic arm; and unloading supplies and science experiments form the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs.

First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1987-01-01

Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.

Lecture materials for the CTOS/MCS introductory course

NASA Technical Reports Server (NTRS)

Fieldhouse, Keith; Holt, Kevin; Lefebvre, Don; Murphy, Steve; Swift, Dave; Watson, Jim

1991-01-01

On July 18 and 19, 1991 the Center for Intelligent Robotic Systems for Space Exploration presented a course on its robotic testbed support software as it then existed. The course materials are collected as a reflection of the state of those systems at that time.

NASA Strategic Roadmap Summary Report

NASA Technical Reports Server (NTRS)

Wilson, Scott; Bauer, Frank; Stetson, Doug; Robey, Judee; Smith, Eric P.; Capps, Rich; Gould, Dana; Tanner, Mike; Guerra, Lisa; Johnston, Gordon

2005-01-01

In response to the Vision, NASA commissioned strategic and capability roadmap teams to develop the pathways for turning the Vision into a reality. The strategic roadmaps were derived from the Vision for Space Exploration and the Aldrich Commission Report dated June 2004. NASA identified 12 strategic areas for roadmapping. The Agency added a thirteenth area on nuclear systems because the topic affects the entire program portfolio. To ensure long-term public visibility and engagement, NASA established a committee for each of the 13 areas. These committees - made up of prominent members of the scientific and aerospace industry communities and senior government personnel - worked under the Federal Advisory Committee Act. A committee was formed for each of the following program areas: 1) Robotic and Human Lunar Exploration; 2) Robotic and Human Exploration of Mars; 3) Solar System Exploration; 4) Search for Earth-Like Planets; 5) Exploration Transportation System; 6) International Space Station; 7) Space Shuttle; 8) Universe Exploration; 9) Earth Science and Applications from Space; 10) Sun-Solar System Connection; 11) Aeronautical Technologies; 12) Education; 13) Nuclear Systems. This document contains roadmap summaries for 10 of these 13 program areas; The International Space Station, Space Shuttle, and Education are excluded. The completed roadmaps for the following committees: Robotic and Human Exploration of Mars; Solar System Exploration; Search for Earth-Like Planets; Universe Exploration; Earth Science and Applications from Space; Sun-Solar System Connection are collected in a separate Strategic Roadmaps volume. This document contains memebership rosters and charters for all 13 committees.

Advanced Space Robotics and Solar Electric Propulsion: Enabling Technologies for Future Planetary Exploration

NASA Astrophysics Data System (ADS)

Kaplan, M.; Tadros, A.

2017-02-01

Obtaining answers to questions posed by planetary scientists over the next several decades will require the ability to travel further while exploring and gathering data in more remote locations of our solar system. Timely investments need to be made in developing and demonstrating solar electric propulsion and advanced space robotics technologies.

The ROMPS robot in HitchHiker

NASA Technical Reports Server (NTRS)

Voellmer, George

1992-01-01

The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

Decentralized reinforcement-learning control and emergence of motion patterns

NASA Astrophysics Data System (ADS)

Svinin, Mikhail; Yamada, Kazuyaki; Okhura, Kazuhiro; Ueda, Kanji

1998-10-01

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, the control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior--such as collision avoidance, wall-following, light-seeking--can emerge from the local controllers.

Artificial intelligence - NASA. [robotics for Space Station

NASA Technical Reports Server (NTRS)

Erickson, J. D.

1985-01-01

Artificial Intelligence (AI) represents a vital common space support element needed to enable the civil space program and commercial space program to perform their missions successfully. It is pointed out that advances in AI stimulated by the Space Station Program could benefit the U.S. in many ways. A fundamental challenge for the civil space program is to meet the needs of the customers and users of space with facilities enabling maximum productivity and having low start-up costs, and low annual operating costs. An effective way to meet this challenge may involve a man-machine system in which artificial intelligence, robotics, and advanced automation are integrated into high reliability organizations. Attention is given to the benefits, NASA strategy for AI, candidate space station systems, the Space Station as a stepping stone, and the commercialization of space.

ROMPS critical design review data package

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1992-01-01

The design elements of the Robot-Operated Material Processing in Space (ROMPS) system are described in outline and graphical form. The following subsystems/topics are addressed: servo system, testbed and simulation results, System V Controller, robot module, furnace module, SCL experiment supervisor and script sample processing control, battery system, watchdog timers, mechanical/thermal considerations, and fault conditions and recovery.

Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1990-01-01

Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon B. Johnson Space Center at Houston, Texas, on July 25 to 27, 1989, are given. Approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA Artificial Intelligence Overview and Expert System Verification and Validation.

On-orbit identifying the inertia parameters of space robotic systems using simple equivalent dynamics

NASA Astrophysics Data System (ADS)

Xu, Wenfu; Hu, Zhonghua; Zhang, Yu; Liang, Bin

2017-03-01

After being launched into space to perform some tasks, the inertia parameters of a space robotic system may change due to fuel consumption, hardware reconfiguration, target capturing, and so on. For precision control and simulation, it is required to identify these parameters on orbit. This paper proposes an effective method for identifying the complete inertia parameters (including the mass, inertia tensor and center of mass position) of a space robotic system. The key to the method is to identify two types of simple dynamics systems: equivalent single-body and two-body systems. For the former, all of the joints are locked into a designed configuration and the thrusters are used for orbital maneuvering. The object function for optimization is defined in terms of acceleration and velocity of the equivalent single body. For the latter, only one joint is unlocked and driven to move along a planned (exiting) trajectory in free-floating mode. The object function is defined based on the linear and angular momentum equations. Then, the parameter identification problems are transformed into non-linear optimization problems. The Particle Swarm Optimization (PSO) algorithm is applied to determine the optimal parameters, i.e. the complete dynamic parameters of the two equivalent systems. By sequentially unlocking the 1st to nth joints (or unlocking the nth to 1st joints), the mass properties of body 0 to n (or n to 0) are completely identified. For the proposed method, only simple dynamics equations are needed for identification. The excitation motion (orbit maneuvering and joint motion) is also easily realized. Moreover, the method does not require prior knowledge of the mass properties of any body. It is general and practical for identifying a space robotic system on-orbit.

Distributed cooperating processes in a mobile robot control system

NASA Technical Reports Server (NTRS)

Skillman, Thomas L., Jr.

1988-01-01

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

System Wide Joint Position Sensor Fault Tolerance in Robot Systems Using Cartesian Accelerometers

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

Joint position sensors are necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers. the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented. Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

Off-line programming motion and process commands for robotic welding of Space Shuttle main engines

NASA Technical Reports Server (NTRS)

Ruokangas, C. C.; Guthmiller, W. A.; Pierson, B. L.; Sliwinski, K. E.; Lee, J. M. F.

1987-01-01

The off-line-programming software and hardware being developed for robotic welding of the Space Shuttle main engine are described and illustrated with diagrams, drawings, graphs, and photographs. The menu-driven workstation-based interactive programming system is designed to permit generation of both motion and process commands for the robotic workcell by weld engineers (with only limited knowledge of programming or CAD systems) on the production floor. Consideration is given to the user interface, geometric-sources interfaces, overall menu structure, weld-parameter data base, and displays of run time and archived data. Ongoing efforts to address limitations related to automatic-downhand-configuration coordinated motion, a lack of source codes for the motion-control software, CAD data incompatibility, interfacing with the robotic workcell, and definition of the welding data base are discussed.

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

PubMed

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

2016-01-01

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

Task planning and control synthesis for robotic manipulation in space applications

NASA Technical Reports Server (NTRS)

Sanderson, A. C.; Peshkin, M. A.; Homem-De-mello, L. S.

1987-01-01

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

Park Smart

NASA Technical Reports Server (NTRS)

1999-01-01

The Parking Garage Automation System (PGAS) is based on a technology developed by a NASA-sponsored project called Robot sensorSkin(TM). Merritt Systems, Inc., of Orlando, Florida, teamed up with NASA to improve robots working with critical flight hardware at Kennedy Space Center in Florida. The system, containing smart sensor modules and flexible printed circuit board skin, help robots to steer clear of obstacles using a proximity sensing system. Advancements in the sensor designs are being applied to various commercial applications, including the PGAS. The system includes a smartSensor(TM) network installed around and within public parking garages to autonomously guide motorists to open facilities, and once within, to free parking spaces. The sensors use non-invasive reflective-ultrasonic technology for high accuracy, high reliability, and low maintenance. The system is remotely programmable: it can be tuned to site-specific requirements, has variable range capability, and allows remote configuration, monitoring, and diagnostics. The sensors are immune to interference from metallic construction materials, such as rebar and steel beams. Inside the garage, smart routing signs mounted overhead or on poles in front of each row of parking spots guide the motorist precisely to free spaces.

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.

Spline-Screw Payload-Fastening System

NASA Technical Reports Server (NTRS)

Vranish, John M.

1994-01-01

Payload handed off securely between robot and vehicle or structure. Spline-screw payload-fastening system includes mating female and male connector mechanisms. Clockwise (or counter-clockwise) rotation of splined male driver on robotic end effector causes connection between robot and payload to tighten (or loosen) and simultaneously causes connection between payload and structure to loosen (or tighten). Includes mechanisms like those described in "Tool-Changing Mechanism for Robot" (GSC-13435) and "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430). Designed for use in outer space, also useful on Earth in applications needed for secure handling and secure mounting of equipment modules during storage, transport, and/or operation. Particularly useful in machine or robotic applications.

Passive mapping and intermittent exploration for mobile robots

NASA Technical Reports Server (NTRS)

Engleson, Sean P.

1994-01-01

An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

How to get the best from robotic thoracic surgery.

PubMed

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

2018-04-01

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

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

1990-01-01

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

An orbital emulator for pursuit-evasion game theoretic sensor management

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

Lander Technologies

NASA Technical Reports Server (NTRS)

Chavers, Greg

2015-01-01

Since 2006 NASA has been formulating robotic missions to the lunar surface through programs and projects like the Robotic Lunar Exploration Program, Lunar Precursor Robotic Program, and International Lunar Network. All of these were led by NASA Marshall Space Flight Center (MSFC). Due to funding shortfalls, the lunar missions associated with these efforts, the designs, were not completed. From 2010 to 2013, the Robotic Lunar Lander Development Activity was funded by the Science Mission Directorate (SMD) to develop technologies that would enable and enhance robotic lunar surface missions at lower costs. In 2013, a requirements-driven, low-cost robotic lunar lander concept was developed for the Resource Prospector Mission. Beginning in 2014, The Advanced Exploration Systems funded the lander team and established the MSFC, Johnson Space Center, Applied Physics Laboratory, and the Jet Propulsion Laboratory team with MSFC leading the project. The lander concept to place a 300-kg rover on the lunar surface has been described in the New Technology Report Case Number MFS-33238-1. A low-cost lander concept for placing a robotic payload on the lunar surface is shown in figures 1 and 2. The NASA lander team has developed several lander concepts using common hardware and software to allow the lander to be configured for a specific mission need. In addition, the team began to transition lander expertise to United States (U.S.) industry to encourage the commercialization of space, specifically the lunar surface. The Lunar Cargo Transportation and Landing by Soft Touchdown (CATALYST) initiative was started and the NASA lander team listed above is partnering with three competitively selected U.S. companies (Astrobotic, Masten Space Systems, and Moon Express) to develop, test, and operate their lunar landers.

Understanding of and applications for robot vision guidance at KSC

NASA Technical Reports Server (NTRS)

Shawaga, Lawrence M.

1988-01-01

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

A Survey of Space Robotics

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

Anthropomorphic Telemanipulation System in Terminus Control Mode

NASA Technical Reports Server (NTRS)

Jau, Bruno M.; Lewis, M. Anthony; Bejczy, Antal K.

1994-01-01

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

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.

Robot Tracking of Human Subjects in Field Environments

NASA Technical Reports Server (NTRS)

Graham, Jeffrey; Shillcutt, Kimberly

2003-01-01

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

Computed torque control of a free-flying cooperat ing-arm robot

NASA Technical Reports Server (NTRS)

Koningstein, Ross; Ullman, Marc; Cannon, Robert H., Jr.

1989-01-01

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Robotic control and inspection verification

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1991-01-01

Three areas of possible commercialization involving robots at the Kennedy Space Center (KSC) are discussed: a six degree-of-freedom target tracking system for remote umbilical operations; an intelligent torque sensing end effector for operating hand valves in hazardous locations; and an automatic radiator inspection device, a 13 by 65 foot robotic mechanism involving completely redundant motors, drives, and controls. Aspects concerning the first two innovations can be integrated to enable robots or teleoperators to perform tasks involving orientation and panal actuation operations that can be done with existing technology rather than waiting for telerobots to incorporate artificial intelligence (AI) to perform 'smart' autonomous operations. The third robot involves the application of complete control hardware redundancy to enable performance of work over and near expensive Space Shuttle hardware. The consumer marketplace may wish to explore commercialization of similiar component redundancy techniques for applications when a robot would not normally be used because of reliability concerns.

Human-Robot Site Survey and Sampling for Space Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Bualat, Maria; Edwards, Laurence; Flueckiger, Lorenzo; Kunz, Clayton; Lee, Susan Y.; Park, Eric; To, Vinh; Utz, Hans; Ackner, Nir

2006-01-01

NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

NASA Technical Reports Server (NTRS)

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

1982-01-01

Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

NASA Technical Reports Server (NTRS)

1985-01-01

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

Real-time control for manufacturing space shuttle main engines: Work in progress

NASA Technical Reports Server (NTRS)

Ruokangas, Corinne C.

1988-01-01

During the manufacture of space-based assemblies such as Space Shuttle Main Engines, flexibility is required due to the high-cost and low-volume nature of the end products. Various systems have been developed pursuing the goal of adaptive, flexible manufacturing for several space applications, including an Advanced Robotic Welding System for the manufacture of complex components of the Space Shuttle Main Engines. The Advanced Robotic Welding System (AROWS) is an on-going joint effort, funded by NASA, between NASA/Marshall Space Flight Center, and two divisions of Rockwell International: Rocketdyne and the Science Center. AROWS includes two levels of flexible control of both motion and process parameters: Off-line programming using both geometric and weld-process data bases, and real-time control incorporating multiple sensors during weld execution. Both control systems were implemented using conventional hardware and software architectures. The feasibility of enhancing the real-time control system using the problem-solving architecture of Schemer is investigated and described.

Information management in an integrated space telerobot

NASA Technical Reports Server (NTRS)

Dipippo, S.; Pasquariello, G.; Labini, G. Sylos

1989-01-01

The in-orbit operations, like space structures inspection, servicing and repairing, is expected to be one of the most significant technological area for application and development of Robotics and Automation in Space Station environment. The Italian National Space Plan (PSN) has started up its strategic programme SPIDER (Space Inspection Device for Extravehicular Repairs), which is scheduled in three phases, with the final goal of performing docking and precision repairing in the Space Station environment. SPIDER system is an autonomous integrated space robot, using mature Artificial Intelligence tools and technics for its operational control. The preliminary results of a study on the information architecture of the spacecraft are described.

Robotic Surgery

NASA Technical Reports Server (NTRS)

2000-01-01

The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

Robotic Assembly of Truss Structures for Space Systems and Future Research Plans

NASA Technical Reports Server (NTRS)

Doggett, William

2002-01-01

Many initiatives under study by both the space science and earth science communities require large space systems, i.e. with apertures greater than 15 m or dimensions greater than 20 m. This paper reviews the effort in NASA Langley Research Center's Automated Structural Assembly Laboratory which laid the foundations for robotic construction of these systems. In the Automated Structural Assembly Laboratory reliable autonomous assembly and disassembly of an 8 meter planar structure composed of 102 truss elements covered by 12 panels was demonstrated. The paper reviews the hardware and software design philosophy which led to reliable operation during weeks of near continuous testing. Special attention is given to highlight the features enhancing assembly reliability.

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

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

Robotic Mining Competition - Awards Ceremony

NASA Image and Video Library

2018-05-18

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

Astrobee: A New Platform for Free-Flying Robotics on the International Space Station

NASA Technical Reports Server (NTRS)

Smith, Trey; Barlow, Jonathan; Bualat, Maria; Fong, Terrence; Provencher, Christopher; Sanchez, Hugo; Smith, Ernest

2016-01-01

The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.

A magneto-sensitive skin for robots in space

NASA Technical Reports Server (NTRS)

Chauhan, D. S.; Dehoff, P. H.

1991-01-01

The development of a robot arm proximity sensing skin that can sense intruding objects is described. The purpose of the sensor would be to prevent the robot from colliding with objects in space including human beings. Eventually a tri-mode system in envisioned including proximity, tactile, and thermal. To date the primary emphasis was on the proximity sensor which evolved from one based on magneto-inductive principles to the current design which is based on a capacitive-reflector system. The capacitive sensing element, backed by a reflector driven at the same voltage and in phase with the sensor, is used to reflect field lines away from the grounded robot toward the intruding object. This results in an increased sensing range of up to 12 in. with the reflector on compared with only 1 in. with it off. It is believed that this design advances the state-of-the-art in capacitive sensor performance.

Technology transfer and evaluation for Space Station telerobotics

NASA Technical Reports Server (NTRS)

Price, Charles R.; Stokes, Lebarian; Diftler, Myron A.

1994-01-01

The international space station (SS) must take advantage of advanced telerobotics in order to maximize productivity and safety and to reduce maintenance costs. The Automation and Robotics Division at the NASA Lyndon B. Johnson Space Center (JSC) has designed, developed, and constructed the Automated Robotics Maintenance of Space Station (ARMSS) facility for the purpose of transferring and evaluating robotic technology that will reduce SS operation costs. Additionally, JSC had developed a process for expediting the transfer of technology from NASA research centers and evaluating these technologies in SS applications. Software and hardware system developed at the research centers and NASA sponsored universities are currently being transferred to JSC and integrated into the ARMSS for flight crew personnel testing. These technologies will be assessed relative to the SS baseline, and, after refinements, those technologies that provide significant performance improvements will be recommended as upgrades to the SS. Proximity sensors, vision algorithms, and manipulator controllers are among the systems scheduled for evaluation.

Miniature Telerobots in Space Applications

NASA Technical Reports Server (NTRS)

Venema, S. C.; Hannaford, B.

1995-01-01

Ground controlled telerobots can be used to reduce astronaut workload while retaining much of the human capabilities of planning, execution, and error recovery for specific tasks. Miniature robots can be used for delicate and time consuming tasks such as biological experiment servicing without incurring the significant mass and power penalties associated with larger robot systems. However, questions remain regarding the technical and economic effectiveness of such mini-telerobotic systems. This paper address some of these open issues and the details of two projects which will provide some of the needed answers. The Microtrex project is a joint University of Washington/NASA project which plans on flying a miniature robot as a Space Shuttle experiment to evaluate the effects of microgravity on ground-controlled manipulation while subject to variable time-delay communications. A related project involving the University of Washington and Boeing Defense and Space will evaluate the effectiveness f using a minirobot to service biological experiments in a space station experiment 'glove-box' rack mock-up, again while subject to realistic communications constraints.

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

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Robot Handcontroller

NASA Technical Reports Server (NTRS)

1992-01-01

The PER-Force robotic handcontroller provides a sense of touch or "feel" to an operator manipulating robots. The force simulation and wide range of motion greatly enhances the efficiency of robotic and computer operations. The handcontroller was developed for the Space Station by Cybernet Systems Corporation under a Small Business Innovation Research (SBIR) contract. Commercial applications include underwater use, underground excavations, research laboratories, hazardous waste handling and in manufacturing operations in which it is unsafe or impractical for humans to work.

NASA's In-Space Propulsion Technology Program: A Step Toward Interstellar Exploration

NASA Technical Reports Server (NTRS)

Johnson, Les; James, Bonnie; Baggett, Randy; Montgomery, Sandy

2005-01-01

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

Advanced Space Surface Systems Operations

NASA Technical Reports Server (NTRS)

Huffaker, Zachary Lynn; Mueller, Robert P.

2014-01-01

The importance of advanced surface systems is becoming increasingly relevant in the modern age of space technology. Specifically, projects pursued by the Granular Mechanics and Regolith Operations (GMRO) Lab are unparalleled in the field of planetary resourcefulness. This internship opportunity involved projects that support properly utilizing natural resources from other celestial bodies. Beginning with the tele-robotic workstation, mechanical upgrades were necessary to consider for specific portions of the workstation consoles and successfully designed in concept. This would provide more means for innovation and creativity concerning advanced robotic operations. Project RASSOR is a regolith excavator robot whose primary objective is to mine, store, and dump regolith efficiently on other planetary surfaces. Mechanical adjustments were made to improve this robot's functionality, although there were some minor system changes left to perform before the opportunity ended. On the topic of excavator robots, the notes taken by the GMRO staff during the 2013 and 2014 Robotic Mining Competitions were effectively organized and analyzed for logistical purposes. Lessons learned from these annual competitions at Kennedy Space Center are greatly influential to the GMRO engineers and roboticists. Another project that GMRO staff support is Project Morpheus. Support for this project included successfully producing mathematical models of the eroded landing pad surface for the vertical testbed vehicle to predict a timeline for pad reparation. And finally, the last project this opportunity made contribution to was Project Neo, a project exterior to GMRO Lab projects, which focuses on rocket propulsion systems. Additions were successfully installed to the support structure of an original vertical testbed rocket engine, thus making progress towards futuristic test firings in which data will be analyzed by students affiliated with Rocket University. Each project will be explained in further detail, as well as the full scope of the contributions made during this opportunity.

Flexible robotics: a new paradigm.

PubMed

Aron, Monish; Haber, Georges-Pascal; Desai, Mihir M; Gill, Inderbir S

2007-05-01

The use of robotics in urologic surgery has seen exponential growth over the last 5 years. Existing surgical robots operate rigid instruments on the master/slave principle and currently allow extraluminal manipulations and surgical procedures. Flexible robotics is an entirely novel paradigm. This article explores the potential of flexible robotic platforms that could permit endoluminal and transluminal surgery in the future. Computerized catheter-control systems are being developed primarily for cardiac applications. This development is driven by the need for precise positioning and manipulation of the catheter tip in the three-dimensional cardiovascular space. Such systems employ either remote navigation in a magnetic field or a computer-controlled electromechanical flexible robotic system. We have adapted this robotic system for flexible ureteropyeloscopy and have to date completed the initial porcine studies. Flexible robotics is on the horizon. It has potential for improved scope-tip precision, superior operative ergonomics, and reduced occupational radiation exposure. In the near future, in urology, we believe that it holds promise for endoluminal therapeutic ureterorenoscopy. Looking further ahead, within the next 3-5 years, it could enable transluminal surgery.

A Novel Passive Robotic Tool Interface

NASA Astrophysics Data System (ADS)

Roberts, Paul

2013-09-01

The increased capability of space robotics has seen their uses increase from simple sample gathering and mechanical adjuncts to humans, to sophisticated multi- purpose investigative and maintenance tools that substitute for humans for many external space tasks. As with all space missions, reducing mass and system complexity is critical. A key component of robotic systems mass and complexity is the number of motors and actuators needed. MDA has developed a passive tool interface that, like a household power drill, permits a single tool actuator to be interfaced with many Tool Tips without requiring additional actuators to manage the changing and storage of these tools. MDA's Multifunction Tool interface permits a wide range of Tool Tips to be designed to a single interface that can be pre-qualified to torque and strength limits such that additional Tool Tips can be added to a mission's "tool kit" simply and quickly.

A Space Station robot walker and its shared control software

NASA Technical Reports Server (NTRS)

Xu, Yangsheng; Brown, Ben; Aoki, Shigeru; Yoshida, Tetsuji

1994-01-01

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Environmental interactions in space exploration: Environmental interactions working group

NASA Technical Reports Server (NTRS)

Kolecki, Joseph C.; Hillard, G. Barry

1992-01-01

With the advent of the Space Exploration Initiative, the possibility of designing and using systems on scales heretofore unattempted presents exciting new challenges in systems design and space science. The environments addressed by the Space Exploration Initiative include the surfaces of the Moon and Mars, as well as the varied plasma and field environments which will be encountered by humans and cargo enroute to these destinations. Systems designers will need to understand environmental interactions and be able to model these mechanisms from the earliest conceptual design stages through design completion. To the end of understanding environmental interactions and establishing robotic precursor mission requirements, an Environmental Interactions Working Group was established as part of the Robotic Missions Working Group. The working group is described, and its current activities are updated.

Kagawa Satellite “STARS” in Shikoku

NASA Astrophysics Data System (ADS)

Nohmi, Masahiro; Yamamoto, Takeshi; Andatsu, Akira; Takagi, Yohei; Nishikawa, Yusuke; Kaneko, Takashi; Kunitom, Daisuke

The Space Tethered Autonomous Robotic Satellite (STARS) is being developed in Kagawa University, and it will be launched by the H-IIA rocket by Japan Aerospace Exploration Agency (JAXA) in summer 2008. STARS is the first satellite developed in Shikoku, and its specific characteristics are: (i) mother and daughter satellites, which have basic satellite system respectively, and those are launched at the same time; (ii) large space system more than 5m by extending tether; (iii) robotic system, the daughter satellite controls its arm link and the mother satellite controls tether extension. Development of STARS in Kagawa University demonstrates space technology in local community, which has been considered to be a national project. Also, it promotes popularization, enlightenment, and understanding of space technology in local area of the Kagawa prefecture and around it.

Telerobot local-remote control architecture for space flight program applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul; Steele, Robert; Long, Mark; Bon, Bruce; Beahan, John

1993-01-01

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Design of a simulation environment for laboratory management by robot organizations

NASA Technical Reports Server (NTRS)

Zeigler, Bernard P.; Cellier, Francois E.; Rozenblit, Jerzy W.

1988-01-01

This paper describes the basic concepts needed for a simulation environment capable of supporting the design of robot organizations for managing chemical, or similar, laboratories on the planned U.S. Space Station. The environment should facilitate a thorough study of the problems to be encountered in assigning the responsibility of managing a non-life-critical, but mission valuable, process to an organized group of robots. In the first phase of the work, we seek to employ the simulation environment to develop robot cognitive systems and strategies for effective multi-robot management of chemical experiments. Later phases will explore human-robot interaction and development of robot autonomy.

Use of CAD systems in design of Space Station and space robots

NASA Technical Reports Server (NTRS)

Dwivedi, Suren N.; Yadav, P.; Jones, Gary; Travis, Elmer W.

1988-01-01

The evolution of CAD systems is traced. State-of-the-art CAD systems are reviewed and various advanced CAD facilities and supplementing systems being used at NASA-Goddard are described. CAD hardware, computer software, and protocols are detailed.

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

NASA Technical Reports Server (NTRS)

Kanda, Shinji; Okabayashi, Keijyu; Maruyama, Tsugito; Uchiyama, Takashi

1994-01-01

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

ROMPS critical design review. Volume 1: Hardware

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1992-01-01

Topics concerning the Robot-Operated Material Processing in Space (ROMPS) Program are presented in viewgraph form and include the following: a systems overview; servocontrol and servomechanisms; testbed and simulation results; system V controller; robot module; furnace module; SCL experiment supervisor; SCL script sample processing control; SCL experiment supervisor fault handling; block diagrams; hitchhiker interfaces; battery systems; watchdog timers; mechanical/thermal systems; and fault conditions and recovery.

Maneuvering and control of flexible space robots

NASA Technical Reports Server (NTRS)

Meirovitch, Leonard; Lim, Seungchul

1994-01-01

This paper is concerned with a flexible space robot capable of maneuvering payloads. The robot is assumed to consist of two hinge-connected flexible arms and a rigid end-effector holding a payload; the robot is mounted on a rigid platform floating in space. The equations of motion are nonlinear and of high order. Based on the assumption that the maneuvering motions are one order of magnitude larger than the elastic vibrations, a perturbation approach permits design of controls for the two types of motion separately. The rigid-body maneuvering is carried out open loop, but the elastic motions are controlled closed loop, by means of discrete-time linear quadratic regulator theory with prescribed degree of stability. A numerical example demonstrates the approach. In the example, the controls derived by the perturbation approach are applied to the original nonlinear system and errors are found to be relatively small.

System For Research On Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

1991-01-01

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

On the development of a reactive sensor-based robotic system

NASA Technical Reports Server (NTRS)

Hexmoor, Henry H.; Underwood, William E., Jr.

1989-01-01

Flexible robotic systems for space applications need to use local information to guide their action in uncertain environments where the state of the environment and even the goals may change. They have to be tolerant of unexpected events and robust enough to carry their task to completion. Tactical goals should be modified while maintaining strategic goals. Furthermore, reactive robotic systems need to have a broader view of their environments than sensory-based systems. An architecture and a theory of representation extending the basic cycles of action and perception are described. This scheme allows for dynamic description of the environment and determining purposive and timely action. Applications of this scheme for assembly and repair tasks using a Universal Machine Intelligence RTX robot are being explored, but the ideas are extendable to other domains. The nature of reactivity for sensor-based robotic systems and implementation issues encountered in developing a prototype are discussed.

Telerobotic controller development

NASA Technical Reports Server (NTRS)

Otaguro, W. S.; Kesler, L. O.; Land, Ken; Rhoades, Don

1987-01-01

To meet NASA's space station's needs and growth, a modular and generic approach to robotic control which provides near-term implementation with low development cost and capability for growth into more autonomous systems was developed. The method uses a vision based robotic controller and compliant hand integrated with the Remote Manipulator System arm on the Orbiter. A description of the hardware and its system integration is presented.

An advanced telerobotic system for shuttle payload changeout room processing applications

NASA Technical Reports Server (NTRS)

Sklar, M.; Wegerif, D.

1989-01-01

To potentially alleviate the inherent difficulties in the ground processing of the Space Shuttle and its associated payloads, a teleoperated, semi-autonomous robotic processing system for the Payload Changeout Room (PCR) is now in the conceptual stages. The complete PCR robotic system as currently conceived is described and critical design issues and the required technologies are discussed.

Design challenges and methodology for developing new integrated circuits for the robotics exploration of the solar system

NASA Technical Reports Server (NTRS)

Mojarradi, Mohammad M.; Kolawa, Elizabeth; Blalock, Benjamin; Johnson, R. Wayne

2005-01-01

Next generation space-based robotics systems will be constructed using distributed architectures where electronics capable of working in the extreme environments of the planets of the solar system are integrated with the sensors and actuators in plug-and-play modules and are connected through common multiple redundant data and power buses.

NASA Tech Briefs, January 2013

NASA Technical Reports Server (NTRS)

2013-01-01

Topics include: Single-Photon-Sensitive HgCdTe Avalanche Photodiode Detector; Surface-Enhanced Raman Scattering Using Silica Whispering-Gallery Mode Resonators; 3D Hail Size Distribution Interpolation/Extrapolation Algorithm; Color-Changing Sensors for Detecting the Presence of Hypergolic Fuels; Artificial Intelligence Software for Assessing Postural Stability; Transformers: Shape-Changing Space Systems Built with Robotic Textiles; Fibrillar Adhesive for Climbing Robots; Using Pre-Melted Phase Change Material to Keep Payloads in Space Warm for Hours without Power; Development of a Centrifugal Technique for the Microbial Bioburden Analysis of Freon (CFC-11); Microwave Sinterator Freeform Additive Construction System (MS-FACS); DSP/FPGA Design for a High-Speed Programmable S-Band Space Transceiver; On-Chip Power-Combining for High-Power Schottky Diode-Based Frequency Multipliers; FPGA Vision Data Architecture; Memory Circuit Fault Simulator; Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination; Regolith Advanced Surface Systems Operations Robot Excavator; Magnetically Actuated Seal; Hybrid Electrostatic/Flextensional Mirror for Lightweight, Large-Aperture, and Cryogenic Space Telescopes; System for Contributing and Discovering Derived Mission and Science Data; Remote Viewer for Maritime Robotics Software; Stackfile Database; Reachability Maps for In Situ Operations; JPL Space Telecommunications Radio System Operating Environment; RFI-SIM: RFI Simulation Package; ION Configuration Editor; Dtest Testing Software; IMPaCT - Integration of Missions, Programs, and Core Technologies; Integrated Systems Health Management (ISHM) Toolkit; Wind-Driven Wireless Networked System of Mobile Sensors for Mars Exploration; In Situ Solid Particle Generator; Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature; Rad-Tolerant, Thermally Stable, High-Speed Fiber-Optic Network for Harsh Environments; Towed Subsurface Optical Communications Buoy; High-Collection-Efficiency Fluorescence Detection Cell; Ultra-Compact, Superconducting Spectrometer-on-a-Chip at Submillimeter Wavelengths; UV Resonant Raman Spectrometer with Multi-Line Laser Excitation; Medicine Delivery Device with Integrated Sterilization and Detection; Ionospheric Simulation System for Satellite Observations and Global Assimilative Model Experiments - ISOGAME; Airborne Tomographic Swath Ice Sounding Processing System; flexplan: Mission Planning System for the Lunar Reconnaissance Orbiter; Estimating Torque Imparted on Spacecraft Using Telemetry; PowderSim: Lagrangian Discrete and Mesh-Free Continuum Simulation Code for Cohesive Soils; Multiple-Frame Detection of Subpixel Targets in Thermal Image Sequences; Metric Learning to Enhance Hyperspectral Image Segmentation; Basic Operational Robotics Instructional System; Sheet Membrane Spacesuit Water Membrane Evaporator; Advanced Materials and Manufacturing for Low-Cost, High-Performance Liquid Rocket Combustion Chambers; Motor Qualification for Long-Duration Mars Missions.

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

NASA Technical Reports Server (NTRS)

Prinz, F. B.

1991-01-01

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

An integrated control scheme for space robot after capturing non-cooperative target

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-06-01

How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

KSC-2010-1197

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab, or RMS Lab, inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, Rafael Rodriguez, lead RMS advanced systems technician with United Space Alliance, installs the mid-transition thermal blanket onto the inspection boom assembly, or IBA, on space shuttle Atlantis' orbiter boom sensor system, or OBSS. The IBA is removed from the shuttle every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

KSC-2010-1196

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, Patrick Manning, an advanced systems technician with United Space Alliance, installs the mid-transition thermal blanket onto the inspection boom assembly, or IBA, on space shuttle Atlantis' orbiter boom sensor system, or OBSS. The IBA is removed from the shuttle every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

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

PubMed Central

Roncone, Alessandro; Fadiga, Luciano; Metta, Giorgio

2016-01-01

This paper investigates a biologically motivated model of peripersonal space through its implementation on a humanoid robot. Guided by the present understanding of the neurophysiology of the fronto-parietal system, we developed a computational model inspired by the receptive fields of polymodal neurons identified, for example, in brain areas F4 and VIP. The experiments on the iCub humanoid robot show that the peripersonal space representation i) can be learned efficiently and in real-time via a simple interaction with the robot, ii) can lead to the generation of behaviors like avoidance and reaching, and iii) can contribute to the understanding the biological principle of motor equivalence. More specifically, with respect to i) the present model contributes to hypothesizing a learning mechanisms for peripersonal space. In relation to point ii) we show how a relatively simple controller can exploit the learned receptive fields to generate either avoidance or reaching of an incoming stimulus and for iii) we show how the robot can select arbitrary body parts as the controlled end-point of an avoidance or reaching movement. PMID:27711136

Adaptive multisensor fusion for planetary exploration rovers

NASA Technical Reports Server (NTRS)

Collin, Marie-France; Kumar, Krishen; Pampagnin, Luc-Henri

1992-01-01

The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

A color-coded vision scheme for robotics

NASA Technical Reports Server (NTRS)

Johnson, Kelley Tina

1991-01-01

Most vision systems for robotic applications rely entirely on the extraction of information from gray-level images. Humans, however, regularly depend on color to discriminate between objects. Therefore, the inclusion of color in a robot vision system seems a natural extension of the existing gray-level capabilities. A method for robot object recognition using a color-coding classification scheme is discussed. The scheme is based on an algebraic system in which a two-dimensional color image is represented as a polynomial of two variables. The system is then used to find the color contour of objects. In a controlled environment, such as that of the in-orbit space station, a particular class of objects can thus be quickly recognized by its color.

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

NASA Technical Reports Server (NTRS)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

2015-01-01

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

A fault-tolerant intelligent robotic control system

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Tso, Kam Sing

1993-01-01

This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 1: Executive Summary

NASA Technical Reports Server (NTRS)

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

1982-01-01

Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions are explored. The specific tasks which will be required by future space projects are identified. ARAMIS options which are candidates for those space project tasks and the relative merits of these options are defined and evaluated. Promising applications of ARAMIS and specific areas for further research are identified. The ARAMIS options defined and researched by the study group span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

RASSOR Mobility

NASA Image and Video Library

2017-04-12

RASSOR 2.0, a mining robot in work for the moon or Mars, shows off its dexterity in the Regolith Bin at Kennedy Space Center. RASSOR stands for Regolith Advanced Surface Systems Operations Robot. On the surface of Mars, mining robots like RASSOR will dig down into the regolith and take the material to a processing plant where usable elements such as hydrogen, oxygen and water can be extracted for life support systems. Regolith also shows promise for both construction and creating elements for rocket fuel.

A novel teaching system for industrial robots.

PubMed

Lin, Hsien-I; Lin, Yu-Hsiang

2014-03-27

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

A Novel Teaching System for Industrial Robots

PubMed Central

Lin, Hsien-I; Lin, Yu-Hsiang

2014-01-01

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. PMID:24681669

Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

NASA Astrophysics Data System (ADS)

Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

2017-05-01

For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

Recognition of flow in everyday life using sensor agent robot with laser range finder

NASA Astrophysics Data System (ADS)

Goshima, Misa; Mita, Akira

2011-04-01

In the present paper, we suggest an algorithm for a sensor agent robot with a laser range finder to recognize the flows of residents in the living spaces in order to achieve flow recognition in the living spaces, recognition of the number of people in spaces, and the classification of the flows. House reform is or will be demanded to prolong the lifetime of the home. Adaption for the individuals is needed for our aging society which is growing at a rapid pace. Home autonomous mobile robots will become popular in the future for aged people to assist them in various situations. Therefore we have to collect various type of information of human and living spaces. However, a penetration in personal privacy must be avoided. It is essential to recognize flows in everyday life in order to assist house reforms and aging societies in terms of adaption for the individuals. With background subtraction, extra noise removal, and the clustering based k-means method, we got an average accuracy of more than 90% from the behavior from 1 to 3 persons, and also confirmed the reliability of our system no matter the position of the sensor. Our system can take advantages from autonomous mobile robots and protect the personal privacy. It hints at a generalization of flow recognition methods in the living spaces.

A graphical, rule based robotic interface system

NASA Technical Reports Server (NTRS)

Mckee, James W.; Wolfsberger, John

1988-01-01

The ability of a human to take control of a robotic system is essential in any use of robots in space in order to handle unforeseen changes in the robot's work environment or scheduled tasks. But in cases in which the work environment is known, a human controlling a robot's every move by remote control is both time consuming and frustrating. A system is needed in which the user can give the robotic system commands to perform tasks but need not tell the system how. To be useful, this system should be able to plan and perform the tasks faster than a telerobotic system. The interface between the user and the robot system must be natural and meaningful to the user. A high level user interface program under development at the University of Alabama, Huntsville, is described. A graphical interface is proposed in which the user selects objects to be manipulated by selecting representations of the object on projections of a 3-D model of the work environment. The user may move in the work environment by changing the viewpoint of the projections. The interface uses a rule based program to transform user selection of items on a graphics display of the robot's work environment into commands for the robot. The program first determines if the desired task is possible given the abilities of the robot and any constraints on the object. If the task is possible, the program determines what movements the robot needs to make to perform the task. The movements are transformed into commands for the robot. The information defining the robot, the work environment, and how objects may be moved is stored in a set of data bases accessible to the program and displayable to the user.

Japanese Robotic SFA during Expedition 22

NASA Image and Video Library

2010-03-11

ISS022-E-090362 (11 March 2010) --- The Japanese Robotic Manipulator System / Small Fine Arm (RMS/SFA), is featured in this image photographed by an Expedition 22 crew member on the International Space Station. The SFA is also known as ?Ko-bot?.

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

KSC-03PD-0821

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. - The NASA/Kennedy Space Center- sponsored student team (in pink wigs, right) demonstrates their robot's abilities during the 2003 Southeastern Regional FIRST Robotic Competition. The competition is being held at the University of Central Florida (UCF) in Orlando, March 20-23. Forty student teams from around the country are participating in the event that pits team-built gladiator robots against each other in an athletic-style competition. The teams are sponsored by NASA/Kennedy Space Center, The Boeing Company/Brevard Community College, and Lockheed Martin Space Operations/Mission Systems for the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The vision of FIRST is to inspire in the youth of our nation an appreciation of science and technology and an understanding that mastering these disciplines can enrich the lives of all mankind.

Test Bed For Telerobots

NASA Technical Reports Server (NTRS)

Matijevic, Jacob R.; Zimmerman, Wayne F.; Dolinsky, Shlomo

1990-01-01

Assembly of electromechanical and electronic equipment (including computers) constitutes test bed for development of advanced robotic systems for remote manipulation. Combines features not found in commercial systems. Its architecture allows easy growth in complexity and level of automation. System national resource for validation of new telerobotic technology. Intended primarily for robots used in outer space, test bed adapted to development of advanced terrestrial telerobotic systems for handling radioactive materials, dangerous chemicals, and explosives.

Weighted augmented Jacobian matrix with a variable coefficient method for kinematics mapping of space teleoperation based on human-robot motion similarity

NASA Astrophysics Data System (ADS)

Shi, Zhong; Huang, Xuexiang; Hu, Tianjian; Tan, Qian; Hou, Yuzhuo

2016-10-01

Space teleoperation is an important space technology, and human-robot motion similarity can improve the flexibility and intuition of space teleoperation. This paper aims to obtain an appropriate kinematics mapping method of coupled Cartesian-joint space for space teleoperation. First, the coupled Cartesian-joint similarity principles concerning kinematics differences are defined. Then, a novel weighted augmented Jacobian matrix with a variable coefficient (WAJM-VC) method for kinematics mapping is proposed. The Jacobian matrix is augmented to achieve a global similarity of human-robot motion. A clamping weighted least norm scheme is introduced to achieve local optimizations, and the operating ratio coefficient is variable to pursue similarity in the elbow joint. Similarity in Cartesian space and the property of joint constraint satisfaction is analysed to determine the damping factor and clamping velocity. Finally, a teleoperation system based on human motion capture is established, and the experimental results indicate that the proposed WAJM-VC method can improve the flexibility and intuition of space teleoperation to complete complex space tasks.

Automated Cutting And Drilling Of Composite Parts

NASA Technical Reports Server (NTRS)

Warren, Charles W.

1993-01-01

Proposed automated system precisely cuts and drills large, odd-shaped parts made of composite materials. System conceived for manufacturing lightweight composite parts to replace heavier parts in Space Shuttle. Also useful in making large composite parts for other applications. Includes robot locating part to be machined, positions cutter, and positions drill. Gantry-type robot best suited for task.

Technology for Space Station Evolution. Volume 4: Power Systems/Propulsion/Robotics

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Office of Aeronautics and Space Technology (OAST) conducted a workshop on technology for space station evolution on 16-19 Jan. 1990. The purpose of this workshop was to collect and clarify Space Station Freedom technology requirements for evolution and to describe technologies that can potentially fill those requirements. These proceedings are organized into an Executive Summary and Overview and five volumes containing the Technology Discipline Presentations. Volume 4 consists of the technology discipline sections for Power, Propulsion, and Robotics. For each technology discipline, there is a Level 3 subsystem description, along with the papers.

View of SSMRS and Dextre

NASA Image and Video Library

2014-04-30

ISS039-E-016800 (30 April 2014) --- Backdropped against a cloudy portion of Earth, the Special Purpose Dexterous Manipulator -- the Canadian Space Agency’s robotic “handyman” AKA Dextre -- and the Canadarm2 or Space Station Remote Manipulator System arm take a "rest" after completing a task 225 miles above the home planet. Robotic ground controllers used the Canadarm2 and Dextre to remove the High Definition Earth Viewing (HDEV) payload from the trunk of the SpaceX Dragon, seen in the top portion of the photo. HDEV was installed on the nadir adapter on the European Space Agency's Columbus exposed facility (out of frame).

Visual Detection and Tracking System for a Spherical Amphibious Robot

PubMed Central

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-01-01

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

Visual Detection and Tracking System for a Spherical Amphibious Robot.

PubMed

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-04-15

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

Robotics On-Board Trainer (ROBoT)

NASA Technical Reports Server (NTRS)

Johnson, Genevieve; Alexander, Greg

2013-01-01

ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

High-throughput mouse genotyping using robotics automation.

PubMed

Linask, Kaari L; Lo, Cecilia W

2005-02-01

The use of mouse models is rapidly expanding in biomedical research. This has dictated the need for the rapid genotyping of mutant mouse colonies for more efficient utilization of animal holding space. We have established a high-throughput protocol for mouse genotyping using two robotics workstations: a liquid-handling robot to assemble PCR and a microfluidics electrophoresis robot for PCR product analysis. This dual-robotics setup incurs lower start-up costs than a fully automated system while still minimizing human intervention. Essential to this automation scheme is the construction of a database containing customized scripts for programming the robotics workstations. Using these scripts and the robotics systems, multiple combinations of genotyping reactions can be assembled simultaneously, allowing even complex genotyping data to be generated rapidly with consistency and accuracy. A detailed protocol, database, scripts, and additional background information are available at http://dir.nhlbi.nih.gov/labs/ldb-chd/autogene/.

A Method for Estimating Costs and Benefits of Space Assembly and Servicing By Astronauts and Robots

NASA Technical Reports Server (NTRS)

Purves, Lloyd R.; Benfield, Mark (Technical Monitor)

2002-01-01

One aspect of designing future space missions is to determine whether Space Assembly and Servicing (SAS) is useful and, if so, what combination of robots and astronauts provides the most effective means of accomplishing it. Certain aspects of these choices, such as the societal value of developing the means for humans to live in space, do not lend themselves to quantification. However, other SAS costs and benefits can be quantified in a manner that can help select the most cost-effective SAS approach. Any space facility, whether it is assembled and serviced or not, entails an eventual replacement cost due to wear and obsolescence. Servicing can reduce this cost by limiting replacement to only failed or obsolete components. However, servicing systems, such as space robots, have their own logistics cost, and astronauts can have even greater logistics requirements. On the other hand, humans can be more capable than robots at performing dexterous and unstructured tasks, which can reduce logistics costs by allowing a reduction in mass of replacement components. Overall, the cost-effectiveness of astronaut SAS depends on its efficiency; and, if astronauts have to be wholly justified by their servicing usefulness, then the serviced space facility has to be large enough to fully occupy them.

The role of automation and robotics in space stations

NASA Technical Reports Server (NTRS)

Black, D. C.

1985-01-01

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

Ground controlled robotic assembly operations for Space Station Freedom

NASA Technical Reports Server (NTRS)

Parrish, Joseph C.

1991-01-01

A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.

Integration of task level planning and diagnosis for an intelligent robot

NASA Technical Reports Server (NTRS)

Chan, Amy W.

1992-01-01

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

Force-sensed interface for control and training space robot

NASA Astrophysics Data System (ADS)

Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

2018-05-01

A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

Behavior-based multi-robot collaboration for autonomous construction tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

Scalability of Robotic Controllers: Effects of Progressive Levels of Autonomy on Robotic Reconnaissance Tasks

DTIC Science & Technology

2010-08-01

facility. 2.2.4 The National Aeronautics and Space Administration-Task Load Index (NASA-TLX) The NASA-TLX is a subjective workload assessment tool ...No 6 NR If so, what type? Davinci (1) 14. Please describe the conditions under which you used the robotic system. Surgical (1) 15...2 Fantastic tool . Can see how this will save more lives by using the robot as the recon tool . 1 Interesting and fun. 3 Easily understood what to

Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

Inertial parameter identification using contact force information for an unknown object captured by a space manipulator

NASA Astrophysics Data System (ADS)

Chu, Zhongyi; Ma, Ye; Hou, Yueyang; Wang, Fengwen

2017-02-01

This paper presents a novel identification method for the intact inertial parameters of an unknown object in space captured by a manipulator in a space robotic system. With strong dynamic and kinematic coupling existing in the robotic system, the inertial parameter identification of the unknown object is essential for the ideal control strategy based on changes in the attitude and trajectory of the space robot via capturing operations. Conventional studies merely refer to the principle and theory of identification, and an error analysis process of identification is deficient for a practical scenario. To solve this issue, an analysis of the effect of errors on identification is illustrated first, and the accumulation of measurement or estimation errors causing poor identification precision is demonstrated. Meanwhile, a modified identification equation incorporating the contact force, as well as the force/torque of the end-effector, is proposed to weaken the accumulation of errors and improve the identification accuracy. Furthermore, considering a severe disturbance condition caused by various measured noises, the hybrid immune algorithm, Recursive Least Squares and Affine Projection Sign Algorithm (RLS-APSA), is employed to decode the modified identification equation to ensure a stable identification property. Finally, to verify the validity of the proposed identification method, the co-simulation of ADAMS-MATLAB is implemented by multi-degree of freedom models of a space robotic system, and the numerical results show a precise and stable identification performance, which is able to guarantee the execution of aerospace operations and prevent failed control strategies.

Design guidelines for robotically serviceable hardware

NASA Technical Reports Server (NTRS)

Gordon, Scott A.

1988-01-01

Research being conducted at the Goddard Space Flight Center into the development of guidelines for the design of robotically serviceable spaceflight hardware is described. A mock-up was built based on an existing spaceflight system demonstrating how these guidelines can be applied to actual hardware. The report examines the basic servicing philosophy being studied and how this philosophy is reflected in the formulation of design guidelines for robotic servicing. A description of the mock-up is presented with emphasis on the design features that make it robot friendly. Three robotic servicing schemes fulfilling the design guidelines were developed for the mock-up. These servicing schemes are examined as to how their implementation was affected by the constraints of the spacecraft system on which the mock-up is based.

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

A Segway RMP-based robotic transport system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Kogut, Greg; Barua, Ripan; Burmeister, Aaron; Pezeshkian, Narek; Powell, Darren; Farrington, Nathan; Wimmer, Matt; Cicchetto, Brett; Heng, Chana; Ramirez, Velia

2004-12-01

In the area of logistics, there currently is a capability gap between the one-ton Army robotic Multifunction Utility/Logistics and Equipment (MULE) vehicle and a soldier"s backpack. The Unmanned Systems Branch at Space and Naval Warfare Systems Center (SPAWAR Systems Center, or SSC), San Diego, with the assistance of a group of interns from nearby High Tech High School, has demonstrated enabling technologies for a solution that fills this gap. A small robotic transport system has been developed based on the Segway Robotic Mobility Platform (RMP). We have demonstrated teleoperated control of this robotic transport system, and conducted two demonstrations of autonomous behaviors. Both demonstrations involved a robotic transporter following a human leader. In the first demonstration, the transporter used a vision system running a continuously adaptive mean-shift filter to track and follow a human. In the second demonstration, the separation between leader and follower was significantly increased using Global Positioning System (GPS) information. The track of the human leader, with a GPS unit in his backpack, was sent wirelessly to the transporter, also equipped with a GPS unit. The robotic transporter traced the path of the human leader by following these GPS breadcrumbs. We have additionally demonstrated a robotic medical patient transport capability by using the Segway RMP to power a mock-up of the Life Support for Trauma and Transport (LSTAT) patient care platform, on a standard NATO litter carrier. This paper describes the development of our demonstration robotic transport system and the various experiments conducted.

Vision technology/algorithms for space robotics applications

NASA Technical Reports Server (NTRS)

Krishen, Kumar; Defigueiredo, Rui J. P.

1987-01-01

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Sensor control of robot arc welding

NASA Technical Reports Server (NTRS)

Sias, F. R., Jr.

1985-01-01

A basic problem in the application of robots for welding which is how to guide a torch along a weld seam using sensory information was studied. Improvement of the quality and consistency of certain Gas Tungsten Arc welds on the Space Shuttle Main Engine (SSME) that are too complex geometrically for conventional automation and therefore are done by hand was examined. The particular problems associated with space shuttle main egnine (SSME) manufacturing and weld-seam tracking with an emphasis on computer vision methods were analyzed. Special interface software for the MINC computr are developed which will allow it to be used both as a test system to check out the robot interface software and later as a development tool for further investigation of sensory systems to be incorporated in welding procedures.

Interactive intelligent remote operations: application to space robotics

NASA Astrophysics Data System (ADS)

Dupuis, Erick; Gillett, G. R.; Boulanger, Pierre; Edwards, Eric; Lipsett, Michael G.

1999-11-01

A set of tolls addressing the problems specific to the control and monitoring of remote robotic systems from extreme distances has been developed. The tools include the capability to model and visualize the remote environment, to generate and edit complex task scripts, to execute the scripts to supervisory control mode and to monitor and diagnostic equipment from multiple remote locations. Two prototype systems are implemented for demonstration. The first demonstration, using a prototype joint design called Dexter, shows the applicability of the approach to space robotic operation in low Earth orbit. The second demonstration uses a remotely controlled excavator in an operational open-pit tar sand mine. This demonstrates that the tools developed can also be used for planetary exploration operations as well as for terrestrial mining applications.

KSC-2011-5074

NASA Image and Video Library

2011-07-06

CAPE CANAVERAL, Fla. -- The Press Site auditorium at NASA's Kennedy Space Center in Florida hosted a Robotic Refueling Mission (RRM) module demonstration. Seen here speaking with media are Dewayne Washington from NASA's Goddard Space Flight Center in Maryland, moderator (left); Frank Cepollina, project manager with NASA's Satellite Servicing Capabilities Office and Mathieu Caron, Mission Operations manager with the Canadian Space Agency. Space shuttle Atlantis will fly the RRM on its STS-135 mission to the International Space Station. Once in place the RRM will use the station's two-armed robotic system, known as Dextre, to investigate the potential for robotically refueling existing satellites in orbit. Atlantis and its crew of four are scheduled to lift off at 11:26 a.m. EDT on July 8 to deliver the Raffaello multi-purpose logistics module packed with supplies and spare parts to the station. Atlantis also will fly the RRM and return a failed ammonia pump module to help NASA better understand the failure mechanism and improve pump designs for future systems. STS-135 will be the 33rd flight of Atlantis, the 37th shuttle mission to the space station, and the 135th and final mission of NASA's Space Shuttle Program. For more information visit, www.nasa.gov/mission_pages/shuttle/shuttlemissions/sts135/index.html. Photo credit: NASA/Frankie Martin

SpaceX CRS-10 "What's On Board" Science Briefing

NASA Image and Video Library

2017-02-17

Jolyn Russell, deputy Robotics program manager at NASA’s Goddard Space Flight Center’s Satellite Servicing Projects Division in Maryland, speaks to members of social media in the Kennedy Space Center’s Press Site auditorium. The briefing focused on “Raven” research planned for the International Space Station. The Raven investigation studies a real-time robotic spacecraft navigation system that provides the eyes and intelligence to see a target and steer safely toward it. Raven will be part of experiments aboard a Dragon spacecraft scheduled for launch from Kennedy’s Launch Complex 39A on Feb. 18 atop a SpaceX Falcon 9 rocket on the company's 10th Commercial Resupply Services mission to the space station.

New Opportunities for Outer Solar System Science using Radioisotope Electric Propulsion

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

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

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

A spatial registration method for navigation system combining O-arm with spinal surgery robot

NASA Astrophysics Data System (ADS)

Bai, H.; Song, G. L.; Zhao, Y. W.; Liu, X. Z.; Jiang, Y. X.

2018-05-01

The minimally invasive surgery in spinal surgery has become increasingly popular in recent years as it reduces the chances of complications during post-operation. However, the procedure of spinal surgery is complicated and the surgical vision of minimally invasive surgery is limited. In order to increase the quality of percutaneous pedicle screw placement, the O-arm that is a mobile intraoperative imaging system is used to assist surgery. The robot navigation system combined with O-arm is also increasing, with the extensive use of O-arm. One of the major problems in the surgical navigation system is to associate the patient space with the intra-operation image space. This study proposes a spatial registration method of spinal surgical robot navigation system, which uses the O-arm to scan a calibration phantom with metal calibration spheres. First, the metal artifacts were reduced in the CT slices and then the circles in the images based on the moments invariant could be identified. Further, the position of the calibration sphere in the image space was obtained. Moreover, the registration matrix is obtained based on the ICP algorithm. Finally, the position error is calculated to verify the feasibility and accuracy of the registration method.

Parapharyngeal space surgery via a transoral approach using a robotic surgical system: transoral robotic surgery.

PubMed

Park, Young Min; De Virgilio, Armando; Kim, Won Shik; Chung, Hyun Pil; Kim, Se-Heon

2013-03-01

In transoral robotic surgery (TORS), if an endoscopic arm equipped with two integrated cameras is placed close to a lesion, a three-dimensionally magnified view of the operative field can be obtained. More important is that the operation can be performed precisely and bimanually using two instrument arms that can move freely within a limited working space. We performed TORS to treat several diseases that occur in the parapharyngeal space (PPS) and subsequently analyzed the treatment outcomes to confirm the validity of this procedure. Between February 2009 and February 2012, 11 patients who required surgical treatment for the removal of a parapharyngeal lesion were enrolled in this prospective study. Nine patients received TORS for parapharyngeal tumor resection, and 2 patients with stylohyoid syndrome underwent TORS for resection of an elongated styloid process. The average age of the patients included in this study was 42 years. Five patients were male, and 6 patients were female. TORS was successfully performed in all 11 patients. The average robotic system docking and operation times were 9.9 minutes (range, 5-24 minutes) and 54.2 minutes (range, 26-150 minutes), respectively. Patients were able to swallow normally the day after the operation. The average blood loss during the robotic operation was minimal (11.8 mL). The average hospital stay was 2.6 days. There were no significant complications in the perioperative or postoperative period. All patients were extremely satisfied with their cosmetic outcomes. PPS surgery via a transoral approach using a robotic surgical system is technically feasible and secures a better cosmetic outcome than the transcervical, transparotid, or transmandibular approach. This new surgical method is safe and effective for benign diseases of the PPS.

Third Conference on Artificial Intelligence for Space Applications, part 1

NASA Technical Reports Server (NTRS)

Denton, Judith S. (Compiler); Freeman, Michael S. (Compiler); Vereen, Mary (Compiler)

1987-01-01

The application of artificial intelligence to spacecraft and aerospace systems is discussed. Expert systems, robotics, space station automation, fault diagnostics, parallel processing, knowledge representation, scheduling, man-machine interfaces and neural nets are among the topics discussed.

Robotics handbook. Version 1: For the interested party and professional

NASA Astrophysics Data System (ADS)

1993-12-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

Robotics handbook. Version 1: For the interested party and professional

NASA Technical Reports Server (NTRS)

1993-01-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets.

PubMed

Bradley, Stuart

2015-11-20

Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an "actuator" interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator "firings") to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a "cost function" is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.

Control of Free-Flying Space Robot Manipulator Systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.; Rock, Stephen M.; How, Jonathan

2000-01-01

This is the final report on the Stanford University portion of a major NASA program in telerobotics called the TRIWG Program, led strongly from NASA Headquarters by David Lavery This portion of the TRIWG research was carried out in Stanford's Aerospace Robotics Laboratory (ARL) to (1) contribute in unique and valuable ways to new fundamental capability for NASA in its space missions (the total contribution came from some 100 PhD-student years of research), and (2) to provide a steady stream of very capable PhD graduates to the American space enterprise.

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.

A Feasibility Study on a Parallel Mechanism for Examining the Space Shuttle Orbiter Payload Bay Radiators

NASA Technical Reports Server (NTRS)

Roberts, Rodney G.; LopezdelCastillo, Eduardo

1996-01-01

The goal of the project was to develop the necessary analysis tools for a feasibility study of a cable suspended robot system for examining the space shuttle orbiter payload bay radiators These tools were developed to address design issues such as workspace size, tension requirements on the cable, the necessary accuracy and resolution requirements and the stiffness and movement requirements of the system. This report describes the mathematical models for studying the inverse kinematics, statics, and stiffness of the robot. Each model is described by a matrix. The manipulator Jacobian was also related to the stiffness matrix, which characterized the stiffness of the system. Analysis tools were then developed based on the singular value decomposition (SVD) of the corresponding matrices. It was demonstrated how the SVD can be used to quantify the robot's performance and to provide insight into different design issues.

Ndarts

NASA Technical Reports Server (NTRS)

Jain, Abhinandan

2011-01-01

Ndarts software provides algorithms for computing quantities associated with the dynamics of articulated, rigid-link, multibody systems. It is designed as a general-purpose dynamics library that can be used for the modeling of robotic platforms, space vehicles, molecular dynamics, and other such applications. The architecture and algorithms in Ndarts are based on the Spatial Operator Algebra (SOA) theory for computational multibody and robot dynamics developed at JPL. It uses minimal, internal coordinate models. The algorithms are low-order, recursive scatter/ gather algorithms. In comparison with the earlier Darts++ software, this version has a more general and cleaner design needed to support a larger class of computational dynamics needs. It includes a frames infrastructure, allows algorithms to operate on subgraphs of the system, and implements lazy and deferred computation for better efficiency. Dynamics modeling modules such as Ndarts are core building blocks of control and simulation software for space, robotic, mechanism, bio-molecular, and material systems modeling.

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

The NASA automation and robotics technology program

NASA Technical Reports Server (NTRS)

Holcomb, Lee B.; Montemerlo, Melvin D.

1986-01-01

The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

KSC-2010-1198

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, this close-up shows the forward transition and X-guide restraint of the inspection boom assembly, or IBA, on space shuttle Atlantis' orbiter boom sensor system, or OBSS. The IBA is removed from the shuttle every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

Decision rules for spaceborne operations planning

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.

1992-01-01

Recent study of Space Station Freedom requirements for extravehicular activity (EVA) to perform external maintenance tasks emphasize an oversubscription of resources for performing on-orbit tasks. Extravehicular robotics (EVR) and cooperative EVA combined with EVR (using crew and robots synergistically to perform tasks) have been suggested as a part of the solution to reduce EVA. The question remains however, 'Under what conditions is it cost-effective to use the EVA and/or EVR resource.' The answer to such a question also has implications for the Space Station Freedom and its external maintenance as well as the Space Exploration Initiative (SEI) where the issue of work-system allocation is magnified by the long distances and scope of EVA work. This paper describes a simple technique of interest to operational planners and robot technology planners for determining in an economic context whether to use EVA alone, EVR alone, or Cooperative EVA. It is also shown that given: (1) the task times for these alternatives; and (2) the marginal costs of EVA, EVR, and IVA, the appropriate work system for performing the task can be identified. The paper illustrates how the work system choice is based on the ratio of costs. An example using Space Station Freedom data is presented to illustrate the trade-offs among alternative work-systems.

Robotic Exploration of Moon and Mars: Thematic Education Approach

NASA Technical Reports Server (NTRS)

Allen, J S.; Tobola, K. W.; Lowes, L. L.; Betrue, R.

2008-01-01

Safe, sustained, affordable human and robotic exploration of the Moon, Mars, and beyond is a major NASA goal. Robotic exploration of the Moon and Mars will help pave the way for an expanded human presence in our solar system. To help share the robotic exploration role in the Vision for Space Exploration with classrooms, informal education groups, and the public, our team researched and consolidated the thematic story components and associated education activities into a useful education materials set for educators. We developed the set of materials for a workshop combining NASA Science Mission Directorate and Exploration Systems Mission Directorate engineering, science, and technology to train informal educators on education activities that support the robotic exploration themes. A major focus is on the use of robotic spacecraft and instruments to explore and prepare for the human exploration of the Moon and Mars.

Robotics, motor learning, and neurologic recovery.

PubMed

Reinkensmeyer, David J; Emken, Jeremy L; Cramer, Steven C

2004-01-01

Robotic devices are helping shed light on human motor control in health and injury. By using robots to apply novel force fields to the arm, investigators are gaining insight into how the nervous system models its external dynamic environment. The nervous system builds internal models gradually by experience and uses them in combination with impedance and feedback control strategies. Internal models are robust to environmental and neural noise, generalized across space, implemented in multiple brain regions, and developed in childhood. Robots are also being used to assist in repetitive movement practice following neurologic injury, providing insight into movement recovery. Robots can haptically assess sensorimotor performance, administer training, quantify amount of training, and improve motor recovery. In addition to providing insight into motor control, robotic paradigms may eventually enhance motor learning and rehabilitation beyond the levels possible with conventional training techniques.

Intelligent robotic tracker

NASA Technical Reports Server (NTRS)

Otaguro, W. S.; Kesler, L. O.; Land, K. C.; Rhoades, D. E.

1987-01-01

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Non-Intrusive Techniques of Inspections During the Pre-Launch Phase of Space Vehicle

NASA Technical Reports Server (NTRS)

Thirumalainambi, Rejkumar; Bardina, Jorge E.

2005-01-01

This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrophotometer with additional spectrophotometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. This paper addresses a team of micro flying robots with necessary sensors and photometers to monitor the entire space vehicle internally and externally. The micro flying robots can reach altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robot has an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a Supervisor to fix the problems. As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. The robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Nonintrusive techniques of inspections during the pre-launch phase of space vehicle

NASA Astrophysics Data System (ADS)

Thirumalainambi, Rajkumar; Bardina, Jorge E.; Miyazawa, Osamu

2005-05-01

As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrometer with additional spectrometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. A team of micro flying robots with necessary sensors and photometers is required to internally and externally monitor the entire space vehicle. The micro flying robots should reach an altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robots have an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a `Supervisor' to fix the problems. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. Each robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Optical information processing at NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Reid, Max B.; Bualat, Maria G.; Cho, Young C.; Downie, John D.; Gary, Charles K.; Ma, Paul W.; Ozcan, Meric; Pryor, Anna H.; Spirkovska, Lilly

1993-01-01

The combination of analog optical processors with digital electronic systems offers the potential of tera-OPS computational performance, while often requiring less power and weight relative to all-digital systems. NASA is working to develop and demonstrate optical processing techniques for on-board, real time science and mission applications. Current research areas and applications under investigation include optical matrix processing for space structure vibration control and the analysis of Space Shuttle Main Engine plume spectra, optical correlation-based autonomous vision for robotic vehicles, analog computation for robotic path planning, free-space optical interconnections for information transfer within digital electronic computers, and multiplexed arrays of fiber optic interferometric sensors for acoustic and vibration measurements.

Orbital transfer vehicle concept definition and system analysis study. Volume 4, Appendix A: Space station accommodations. Revision 1

NASA Technical Reports Server (NTRS)

Randall, Roger M.

1987-01-01

Orbit Transfer Vehicle (OTV) processing at the space station is divided into two major categories: OTV processing and assembly operations, and support operations. These categories are further subdivided into major functional areas to allow development of detailed OTV processing procedures and timelines. These procedures and timelines are used to derive the specific space station accommodations necessary to support OTV activities. The overall objective is to limit impact on OTV processing requirements on space station operations, involvement of crew, and associated crew training and skill requirements. The operational concept maximizes use of automated and robotic systems to perform all required OTV servicing and maintenance tasks. Only potentially critical activities would require direct crew involvement or supervision. EVA operations are considered to be strictly contingency back-up to failure of the automated and robotic systems, with the exception of the initial assembly of Space-Based OTV accommodations at the space station, which will require manned involvement.

The Robotic Lunar Exploration Program (RLEP): An Introduction to the Goals, Approach, and Architecture

NASA Technical Reports Server (NTRS)

Watzin, James G.; Burt, Joseph; Tooley, Craig

2004-01-01

The Vision for Space Exploration calls for undertaking lunar exploration activities to enable sustained human and robotic exploration of Mars and beyond, including more distant destinations in the solar system. In support of this vision, the Robotic Lunar Exploration Program (RLEP) is expected to execute a series of robotic missions to the Moon, starting in 2008, in order to pave the way for further human space exploration. This paper will give an introduction to the RLEP program office, its role and its goals, and the approach it is taking to executing the charter of the program. The paper will also discuss candidate architectures that are being studied as a framework for defining the RLEP missions and the context in which they will evolve.

Space missions for automation and robotics technologies (SMART) program

NASA Technical Reports Server (NTRS)

Ciffone, D. L.; Lum, H., Jr.

1985-01-01

The motivations, features and expected benefits and applications of the NASA SMART program are summarized. SMART is intended to push the state of the art in automation and robotics, a goal that Public Law 98-371 mandated be an inherent part of the Space Station program. The effort would first require tests of sensors, manipulators, computers and other subsystems as seeds for the evolution of flight-qualified subsystems. Consideration is currently being given to robotics systems as add-ons to the RMS, MMU and OMV and a self-contained automation and robotics module which would be tended by astronaut visits. Probable experimentation and development paths that would be pursued with the equipment are discussed, along with the management structure and procedures for the program. The first hardware flight is projected for 1989.

A control approach for robots with flexible links and rigid end-effectors

NASA Technical Reports Server (NTRS)

Barbieri, Enrique; Ozguner, Umit

1989-01-01

Multiarm flexible robots with dexterous end effectors are currently being considered in such tasks as satellite retrieval, servicing and repair where a two phase problem can be identified: Phase 1, robot positioning in space; Phase 2, object retrieval. Some issues in Phase 1 regarding modelling and control strategies for a robotic system comprised of along flexible arm and a rigid three-link end effector are presented. The control objective is to maintain the last (rigid) link stationary in space in the presence of an additive disturbance caused by the flexible energy in the first link after a positioning maneuver has been accomplished. Several configuration strategies can be considered, and optimal decentralized servocompensators can be designed. Preliminary computer simulations are included for a simple proportional controller to illustrate the approach.

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

Robots in Space -Psychological Aspects

NASA Technical Reports Server (NTRS)

Sipes, Walter E.

2006-01-01

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

KSC-2011-5076

NASA Image and Video Library

2011-07-06

CAPE CANAVERAL, Fla. -- The Press Site auditorium at NASA's Kennedy Space Center in Florida hosted a Robotic Refueling Mission (RRM) module demonstration. Seen here is Benjamin Reed, deputy project manager with NASA's Satellite Servicing Capabilities Office, giving media an overview of the RRM. Space shuttle Atlantis will fly the RRM on its STS-135 mission to the International Space Station. Once in place, the RRM will use the station's two-armed robotic system, known as Dextre, to investigate the potential for robotically refueling existing satellites in orbit. Atlantis and its crew of four are scheduled to lift off at 11:26 a.m. EDT on July 8 to deliver the Raffaello multi-purpose logistics module packed with supplies and spare parts to the station. Atlantis also will fly the RRM and return a failed ammonia pump module to help NASA better understand the failure mechanism and improve pump designs for future systems. STS-135 will be the 33rd flight of Atlantis, the 37th shuttle mission to the space station, and the 135th and final mission of NASA's Space Shuttle Program. For more information visit, www.nasa.gov/mission_pages/shuttle/shuttlemissions/sts135/index.html. Photo credit: NASA/Frankie Martin

KSC-2011-5075

NASA Image and Video Library

2011-07-06

CAPE CANAVERAL, Fla. -- The Press Site auditorium at NASA's Kennedy Space Center in Florida hosted a Robotic Refueling Mission (RRM) module demonstration. Seen here is Benjamin Reed, deputy project manager with NASA's Satellite Servicing Capabilities Office, giving media an overview of the RRM. Space shuttle Atlantis will fly the RRM on its STS-135 mission to the International Space Station. Once in place, the RRM will use the station's two-armed robotic system, known as Dextre, to investigate the potential for robotically refueling existing satellites in orbit. Atlantis and its crew of four are scheduled to lift off at 11:26 a.m. EDT on July 8 to deliver the Raffaello multi-purpose logistics module packed with supplies and spare parts to the station. Atlantis also will fly the RRM and return a failed ammonia pump module to help NASA better understand the failure mechanism and improve pump designs for future systems. STS-135 will be the 33rd flight of Atlantis, the 37th shuttle mission to the space station, and the 135th and final mission of NASA's Space Shuttle Program. For more information visit, www.nasa.gov/mission_pages/shuttle/shuttlemissions/sts135/index.html. Photo credit: NASA/Frankie Martin

An Integrated Fault Tolerant Robotic Controller System for High Reliability and Safety

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Tso, Kam S.; Hecht, Myron

1994-01-01

This paper describes the concepts and features of a fault-tolerant intelligent robotic control system being developed for applications that require high dependability (reliability, availability, and safety). The system consists of two major elements: a fault-tolerant controller and an operator workstation. The fault-tolerant controller uses a strategy which allows for detection and recovery of hardware, operating system, and application software failures.The fault-tolerant controller can be used by itself in a wide variety of applications in industry, process control, and communications. The controller in combination with the operator workstation can be applied to robotic applications such as spaceborne extravehicular activities, hazardous materials handling, inspection and maintenance of high value items (e.g., space vehicles, reactor internals, or aircraft), medicine, and other tasks where a robot system failure poses a significant risk to life or property.

Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Dorsey, John T.

2017-01-01

Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

Space Station Crew Walks in Space to Conduct Robotics Upgrades

NASA Image and Video Library

2018-01-23

Outside the International Space Station, Expedition 54 Flight Engineers Mark Vande Hei and Scott Tingle of NASA conducted the first spacewalk this year Jan. 23 to replace a degraded latching end effector (LEE) on one end of the Canadarm2 robotic arm. There are two redundant end effectors on each end of the arm used to grapple visiting vehicles and components during a variety of operational activities. The spacewalk was the 206th in support of space station assembly and maintenance, the third in Vande Hei’s career and the first for Tingle. Vande Hei will venture outside the station again Jan. 29 with Flight Engineer Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) to stow a spare latching end effector removed from the robotic arm last October on to the station’s mobile base system rail car for future use.

Investigation of the relative orientation of the system of optical sensors to monitor the technosphere objects

NASA Astrophysics Data System (ADS)

Petrochenko, Andrey; Konyakhin, Igor

2017-06-01

In connection with the development of robotics have become increasingly popular variety of three-dimensional reconstruction of the system mapping and image-set received from the optical sensors. The main objective of technical and robot vision is the detection, tracking and classification of objects of the space in which these systems and robots operate [15,16,18]. Two-dimensional images sometimes don't contain sufficient information to address those or other problems: the construction of the map of the surrounding area for a route; object identification, tracking their relative position and movement; selection of objects and their attributes to complement the knowledge base. Three-dimensional reconstruction of the surrounding space allows you to obtain information on the relative positions of objects, their shape, surface texture. Systems, providing training on the basis of three-dimensional reconstruction of the results of the comparison can produce two-dimensional images of three-dimensional model that allows for the recognition of volume objects on flat images. The problem of the relative orientation of industrial robots with the ability to build threedimensional scenes of controlled surfaces is becoming actual nowadays.

An Experimental Investigation of Dextrous Robots Using EVA Tools and Interfaces

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Culbert, Christopher; Rehnmark, Frederik

2001-01-01

This investigation of robot capabilities with extravehicular activity (EVA) equipment looks at how improvements in dexterity are enabling robots to perform tasks once thought to be beyond machines. The approach is qualitative, using the Robonaut system at the Johnson Space Center (JSC), performing task trials that offer a quick look at this system's high degree of dexterity and the demands of EVA. Specific EVA tools attempted include tether hooks, power torque tools, and rock scoops, as well as conventional tools like scissors, wire strippers, forceps, and wrenches. More complex EVA equipment was also studied, with more complete tasks that mix tools, EVA hand rails, tethers, tools boxes, PIP pins, and EVA electrical connectors. These task trials have been ongoing over an 18 month period, as the Robonaut system evolved to its current 43 degree of freedom (DOF) configuration, soon to expand to over 50. In each case, the number of teleoperators is reported, with rough numbers of attempts and their experience level, with a subjective difficulty rating assigned to each piece of EVA equipment and function. JSC' s Robonaut system was successful with all attempted EVA hardware, suggesting new options for human and robot teams working together in space.

Terminal Sliding Modes In Nonlinear Control Systems

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T.; Gulati, Sandeep

1993-01-01

Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

Supporting the joint warfighter by development, training, and fielding of man-portable UGVs

NASA Astrophysics Data System (ADS)

Ebert, Kenneth A.; Stratton, Benjamin V.

2005-05-01

The Robotic Systems Pool (RSP), sponsored by the Joint Robotics Program (JRP), is an inventory of small robotic systems, payloads, and components intended to expedite the development and integration of technology into effective, supportable, fielded robotic assets. The RSP loans systems to multiple users including the military, first-responders, research organizations, and academia. These users provide feedback in their specific domain, accelerating research and development improvements of robotic systems, which in turn allow the joint warfighter to benefit from such changes more quickly than from traditional acquisition cycles. Over the past year, RSP assets have been used extensively for pre-deployment operator and field training of joint Explosive Ordnance Disposal (EOD) teams, and for the training of Navy Reservist repair technicians. These Reservists are part of the Robotic Systems Combat Support Platoon (RSCSP), attached to Space and Naval Warfare Systems Center, San Diego. The RSCSP maintains and repairs RSP assets and provides deployable technical support for users of robotic systems. Currently, a small team from the RSCSP is deployed at Camp Victory repairing and maintaining man-portable unmanned ground vehicles (UGVs) used by joint EOD teams in Operation Iraqi Freedom. The focus of this paper is to elaborate on the RSP and RSCSP and their role as invaluable resources for spiral development in the robotics community by gaining first-hand technical feedback from the warfighter and other users.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Phoenix Robotic Arm

NASA Technical Reports Server (NTRS)

2007-01-01

A vital instrument on NASA's Phoenix Mars Lander is the robotic arm, which will dig into the icy soil and bring samples back to the science deck of the spacecraft for analysis. In September 2006 at a Lockheed Martin Space Systems clean room facility near Denver, spacecraft technician Billy Jones inspects the arm during the assembly phase of the mission.

Using the robotic arm -- built by the Jet Propulsion Laboratory, Pasadena -- the Phoenix mission will study the history of water and search for complex organic molecules in the ice-rich soil.

The Phoenix mission is led by Principal Investigator Peter H. Smith of the University of Arizona, Tucson, with project management at NASA's Jet Propulsion Laboratory and development partnership with Lockheed Martin Space Systems. International contributions for Phoenix are provided by the Canadian Space Agency, the University of Neuchatel (Switzerland), the University of Copenhagen, and the Max Planck Institute in Germany. JPL is a division of the California Institute of Technology in Pasadena.

ISS Expedition 18 Sandra Magnus at Robotics Work Station (RWS)

NASA Image and Video Library

2008-12-05

ISS018-E-010555 (5 Dec. 2008) --- Astronaut Sandra Magnus, Expedition 18 flight engineer, operates the Canadarm2 from the robotics work station in the Destiny laboratory of the International Space Station. Using the station's robotic arm, Magnus and astronaut Michael Fincke (out of frame), commander, relocated the ESP-3 from the Mobile Base System back to the Cargo Carrier Attachment System on the P3 truss. The ESP-3 spare parts platform was temporarily parked on the MBS to clear the path for the spacewalks during STS-126.

ISS Expedition 18 Robotics Work Station (RWS) in the US Laboratory

NASA Image and Video Library

2008-12-05

ISS018-E-010564 (5 Dec. 2008) --- Astronaut Michael Fincke, Expedition 18 commander, uses a computer at the robotics work station in the Destiny laboratory of the International Space Station. Using the station's robotic arm, Fincke and astronaut Sandra Magnus (out of frame), flight engineer, relocated the ESP-3 from the Mobile Base System back to the Cargo Carrier Attachment System on the P3 truss. The ESP-3 spare parts platform was temporarily parked on the MBS to clear the path for the spacewalks during STS-126.

16th Annual Expeditionary Warfare Conference: Integrating Future and Present Capabilities

DTIC Science & Technology

2011-10-27

practical, cost-effective robotic systems. ADTECH provides full life cycle submarine maintenance services to the U.S. Navy, space suit design and...Zena Le NSWC PCD CAPT Rand LeBouvier, USN (Ret) Bluefin Robotics Corporation Ms. Heidi Lecklinter-Halvorson NSWC PCD Mr. Roger Leete AUSGAR...America CAPT Terry Miller, USN (Ret) Liquid Robotics , Inc. Mr. Jonathan Millhollon NSWC PCD Col Duncan Milne, USMC (Ret) Pelican Products, Inc. Mr

Upper-limb kinematic reconstruction during stroke robot-aided therapy.

PubMed

Papaleo, E; Zollo, L; Garcia-Aracil, N; Badesa, F J; Morales, R; Mazzoleni, S; Sterzi, S; Guglielmelli, E

2015-09-01

The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

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

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Evaluation of teleoperated surgical robots in an enclosed undersea environment.

PubMed

Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

2009-05-01

The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

Reduced dose to urethra and rectum with the use of variable needle spacing in prostate brachytherapy: a potential role for robotic technology

PubMed Central

Vyas, Shilpa; Le, Yi; Zhang, Zhe; Armour, Woody

2015-01-01

Purpose Several robotic delivery systems for prostate brachytherapy are under development or in pre-clinical testing. One of the features of robotic brachytherapy is the ability to vary spacing of needles at non-fixed intervals. This feature may play an important role in prostate brachytherapy, which is traditionally template-based with fixed needle spacing of 0.5 cm. We sought to quantify potential reductions in the dose to urethra and rectum by utilizing variable needle spacing, as compared to fixed needle spacing. Material and methods Transrectal ultrasound images from 10 patients were used by 3 experienced planners to create 120 treatment plans. Each planner created 4 plan variations per patient with respect to needle positions: 125I fixed spacing, 125I variable spacing, 103Pd fixed spacing, and 103Pd variable spacing. The primary planning objective was to achieve a prostate V100 of 100% while minimizing dose to urethra and rectum. Results All plans met the objective of achieving prostate V100 of 100%. Combined results for all plans show statistically significant improvements in all assessed dosimetric variables for urethra (Umax, Umean, D30, D5) and rectum (Rmax, Rmean, RV100) when using variable spacing. The dose reductions for mean and maximum urethra dose using variable spacing had p values of 0.011 and 0.024 with 103Pd, and 0.007 and 0.029 with 125I plans. Similarly dose reductions for mean and maximum rectal dose using variable spacing had p values of 0.007 and 0.052 with 103Pd, and 0.012 and 0.037 with 125I plans. Conclusions The variable needle spacing achievable by the use of robotics in prostate brachytherapy allows for reductions in both urethral and rectal planned doses while maintaining prostate dose coverage. Such dosimetric advantages have the potential in translating to significant clinical benefits with the use of robotic brachytherapy. PMID:26622227

Reduced dose to urethra and rectum with the use of variable needle spacing in prostate brachytherapy: a potential role for robotic technology.

PubMed

Vyas, Shilpa; Le, Yi; Zhang, Zhe; Armour, Woody; Song, Daniel Y

2015-08-01

Several robotic delivery systems for prostate brachytherapy are under development or in pre-clinical testing. One of the features of robotic brachytherapy is the ability to vary spacing of needles at non-fixed intervals. This feature may play an important role in prostate brachytherapy, which is traditionally template-based with fixed needle spacing of 0.5 cm. We sought to quantify potential reductions in the dose to urethra and rectum by utilizing variable needle spacing, as compared to fixed needle spacing. Transrectal ultrasound images from 10 patients were used by 3 experienced planners to create 120 treatment plans. Each planner created 4 plan variations per patient with respect to needle positions: (125)I fixed spacing, (125)I variable spacing, (103)Pd fixed spacing, and (103)Pd variable spacing. The primary planning objective was to achieve a prostate V100 of 100% while minimizing dose to urethra and rectum. All plans met the objective of achieving prostate V100 of 100%. Combined results for all plans show statistically significant improvements in all assessed dosimetric variables for urethra (Umax, Umean, D30, D5) and rectum (Rmax, Rmean, RV100) when using variable spacing. The dose reductions for mean and maximum urethra dose using variable spacing had p values of 0.011 and 0.024 with (103)Pd, and 0.007 and 0.029 with (125)I plans. Similarly dose reductions for mean and maximum rectal dose using variable spacing had p values of 0.007 and 0.052 with (103)Pd, and 0.012 and 0.037 with (125)I plans. The variable needle spacing achievable by the use of robotics in prostate brachytherapy allows for reductions in both urethral and rectal planned doses while maintaining prostate dose coverage. Such dosimetric advantages have the potential in translating to significant clinical benefits with the use of robotic brachytherapy.

The climbing crawling robot (a unique cable robot for space and Earth)

NASA Technical Reports Server (NTRS)

Kerley, James J.; May, Edward; Eklund, Wayne

1991-01-01

Some of the greatest concerns in robotic designs have been the high center of gravity of the robot, the irregular or flat surface that the robot has to work on, the weight of the robot that has to handle heavy weights or use heavy forces, and the ability of the robot to climb straight up in the air. This climbing crawling robot handles these problems well with magnets, suction cups, or actuators. The cables give body to the robot and it performs very similar to a caterpillar. The computer program is simple and inexpensive as is the robot. One of the important features of this system is that the robot can work in pairs or triplets to handle jobs that would be extremely difficult for single robots. The light weight of the robot allows it to handle quite heavy weights. The number of feet give the robot many roots where a simple set of feet would give it trouble.

Robotics in urologic surgery: an evolving new technology.

PubMed

Atug, Fatih; Castle, Erik P; Woods, Michael; Davis, Rodney; Thomas, Raju

2006-07-01

Rapid technological developments in the past two decades have produced new inventions such as robots and incorporated them into our daily lives. Today, robots perform vital functions in homes, outer space, hospitals and on military instillations. The development of robotic surgery has given hospitals and health care providers a valuable tool that is making a profound impact on highly technical surgical procedures. The field of urology is one area of medicine that has adopted and incorporated robotic surgery into its armamentarium. Innovative robotic urologic surgical applications and techniques are being developed and reported everyday. Increased utilization and development will ultimately fuel the discovery of newer applications of robotic systems in urologic surgery. Herein we provide an overview of the history, development, and applications of robotics in surgery with a focus on urologic surgery.

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

NASA Technical Reports Server (NTRS)

Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

2000-01-01

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

Berthing simulator for space station and orbiter

NASA Technical Reports Server (NTRS)

Veerasamy, Sam

1991-01-01

The development of a real-time man-in-the-loop berthing simulator is in progress at NASA Lyndon B. Johnson Space Center (JSC) to conduct a parametric study and to measure forces during contact conditions of the actual docking mechanisms for the Space Station Freedom and the orbiter. In berthing, the docking ports of the Space Station and the orbiter are brought together using the orbiter robotic arm to control the relative motion of the vehicles. The berthing simulator consists of a dynamics docking test system (DDTS), computer system, simulator software, and workstations. In the DDTS, the Space Station, and the orbiter docking mechanisms are mounted on a six-degree-of-freedom (6 DOF) table and a fixed platform above the table. Six load cells are used on the fixed platform to measure forces during contact conditions of the docking mechanisms. Two Encore Concept 32/9780 computers are used to simulate the orbiter robotic arm and to operate the berthing simulator. A systematic procedure for a real-time dynamic initialization is being developed to synchronize the Space Station docking port trajectory with the 6 DOF table movement. The berthing test can be conducted manually or automatically and can be extended for any two orbiting vehicles using a simulated robotic arm. The real-time operation of the berthing simulator is briefly described.

A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1991-01-01

The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.

Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance.

PubMed

Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare

2017-12-01

In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

Medical Engineering and Microneurosurgery: Application and Future.

PubMed

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

2016-10-15

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

Medical Engineering and Microneurosurgery: Application and Future

PubMed Central

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

2016-01-01

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

Automating High-Precision X-Ray and Neutron Imaging Applications with Robotics

DOE PAGES

Hashem, Joseph Anthony; Pryor, Mitch; Landsberger, Sheldon; ...

2017-03-28

Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. Themore » X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. In conclusion, this paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.« less

Automating High-Precision X-Ray and Neutron Imaging Applications with Robotics

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

Hashem, Joseph Anthony; Pryor, Mitch; Landsberger, Sheldon

Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. Themore » X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. In conclusion, this paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.« less

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

PubMed Central

Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

2011-01-01

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system. PMID:21686038

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.

PubMed

Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

2008-06-13

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Navigation system for autonomous mapper robots

NASA Astrophysics Data System (ADS)

Halbach, Marc; Baudoin, Yvan

1993-05-01

This paper describes the conception and realization of a fast, robust, and general navigation system for a mobile (wheeled or legged) robot. A database, representing a high level map of the environment is generated and continuously updated. The first part describes the legged target vehicle and the hexapod robot being developed. The second section deals with spatial and temporal sensor fusion for dynamic environment modeling within an obstacle/free space probabilistic classification grid. Ultrasonic sensors are used, others are suspected to be integrated, and a-priori knowledge is treated. US sensors are controlled by the path planning module. The third part concerns path planning and a simulation of a wheeled robot is also presented.

A Sustained Proximity Network for Multi-Mission Lunar Exploration

NASA Technical Reports Server (NTRS)

Soloff, Jason A.; Noreen, Gary; Deutsch, Leslie; Israel, David

2005-01-01

Tbe Vision for Space Exploration calls for an aggressive sequence of robotic missions beginning in 2008 to prepare for a human return to the Moon by 2020, with the goal of establishing a sustained human presence beyond low Earth orbit. A key enabler of exploration is reliable, available communication and navigation capabilities to support both human and robotic missions. An adaptable, sustainable communication and navigation architecture has been developed by Goddard Space Flight Center and the Jet Propulsion Laboratory to support human and robotic lunar exploration through the next two decades. A key component of the architecture is scalable deployment, with the infrastructure evolving as needs emerge, allowing NASA and its partner agencies to deploy an interoperable communication and navigation system in an evolutionary way, enabling cost effective, highly adaptable systems throughout the lunar exploration program.

Multi-camera sensor system for 3D segmentation and localization of multiple mobile robots.

PubMed

Losada, Cristina; Mazo, Manuel; Palazuelos, Sira; Pizarro, Daniel; Marrón, Marta

2010-01-01

This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.

NASA's Space Launch System: Positioning Assets for Tele-Robotic Operations

NASA Technical Reports Server (NTRS)

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

2013-01-01

The National Aeronautics and Space Administration (NASA) is designing and developing America's most capable launch vehicle to support high-priority human and scientific exploration beyond Earth's orbit. The Space Launch System (SLS) will initially lift 70 metric tons (t) on its first flights, slated to begin in 2017, and will be evolved after 2021 to a full 130-t capability-larger than the Saturn V Moon rocket. This superior lift and associated volume capacity will support game-changing exploration in regions that were previously unattainable, being too costly and risky to reach. On the International Space Station, astronauts are training for long-duration missions to asteroids and cis-martian regions, but have not had transportation out of Earth's orbit - until now. Simultaneously, productive rovers are sending scientists - and space fans - unprecedented information about the composition and history of Mars, the planet thought to be most like Earth. This combination of experience and information is laying the foundation for future missions, such as those outlined in NASA's "Mars Next Decade" report, that will rely on te1e-robotic operations to take exploration to the next level. Within this paradigm, NASA's Space Launch System stands ready to manifest the unique payloads that will be required for mission success. Ultimately, the ability to position assets - ranging from orbiters, to landers, to communication satellites and surface systems - is a critical step in broadening the reach of technological innovation that will benefit all Earth's people as the Space Age unfolds. This briefing will provide an overview of how the Space Launch System will support delivery of elements for tele-robotic operations at destinations such as the Moon and Mars, which will synchronize the human-machine interface to deliver hybrid on-orbit capabilities. Ultimately, telerobotic operations will open entirely new vistas and the doors of discovery. NASA's Space Launch System will be a safe, affordable, and sustainable platform for these purposes and more.

Robotic Variable Polarity Plasma Arc (VPPA) Welding

NASA Technical Reports Server (NTRS)

Jaffery, Waris S.

1993-01-01

The need for automated plasma welding was identified in the early stages of the Space Station Freedom Program (SSFP) because it requires approximately 1.3 miles of welding for assembly. As a result of the Variable Polarity Plasma Arc Welding (VPPAW) process's ability to make virtually defect-free welds in aluminum, it was chosen to fulfill the welding needs. Space Station Freedom will be constructed of 2219 aluminum utilizing the computer controlled VPPAW process. The 'Node Radial Docking Port', with it's saddle shaped weld path, has a constantly changing surface angle over 360 deg of the 282 inch weld. The automated robotic VPPAW process requires eight-axes of motion (six-axes of robot and two-axes of positioner movement). The robot control system is programmed to maintain Torch Center Point (TCP) orientation perpendicular to the part while the part positioner is tilted and rotated to maintain the vertical up orientation as required by the VPPAW process. The combined speed of the robot and the positioner are integrated to maintain a constant speed between the part and the torch. A laser-based vision sensor system has also been integrated to track the seam and map the surface of the profile during welding.

Robotic Variable Polarity Plasma Arc (VPPA) welding

NASA Astrophysics Data System (ADS)

Jaffery, Waris S.

1993-02-01

The need for automated plasma welding was identified in the early stages of the Space Station Freedom Program (SSFP) because it requires approximately 1.3 miles of welding for assembly. As a result of the Variable Polarity Plasma Arc Welding (VPPAW) process's ability to make virtually defect-free welds in aluminum, it was chosen to fulfill the welding needs. Space Station Freedom will be constructed of 2219 aluminum utilizing the computer controlled VPPAW process. The 'Node Radial Docking Port', with it's saddle shaped weld path, has a constantly changing surface angle over 360 deg of the 282 inch weld. The automated robotic VPPAW process requires eight-axes of motion (six-axes of robot and two-axes of positioner movement). The robot control system is programmed to maintain Torch Center Point (TCP) orientation perpendicular to the part while the part positioner is tilted and rotated to maintain the vertical up orientation as required by the VPPAW process. The combined speed of the robot and the positioner are integrated to maintain a constant speed between the part and the torch. A laser-based vision sensor system has also been integrated to track the seam and map the surface of the profile during welding.

Collision avoidance sensor skin

NASA Technical Reports Server (NTRS)

1991-01-01

The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

NASA Technical Reports Server (NTRS)

Stroupe, Ashley W.; Okon, Avi; Robinson, Matthew; Huntsberger, Terry; Aghazarian, Hrand; Baumgartner, Eric

2004-01-01

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

Robotic Lunar Landers for Science and Exploration

NASA Technical Reports Server (NTRS)

Cohen, B. A.; Bassler, J. A.; Hammond, M. S.; Harris, D. W.; Hill, L. A.; Kirby, K. W.; Morse, B. J.; Mulac, B. D.; Reed, C. L. B.

2010-01-01

The Moon provides an important window into the early history of the Earth, containing information about planetary composition, magmatic evolution, surface bombardment, and exposure to the space environment. Robotic lunar landers to achieve science goals and to provide precursor technology development and site characterization are an important part of program balance within NASA s Science Mission Directorate (SMD) and Exploration Systems Mission Directorate (ESMD). A Robotic Lunar Lan-der mission complements SMD's initiatives to build a robust lunar science community through R&A lines and increases international participation in NASA's robotic exploration of the Moon.

Space Station Freedom automation and robotics: An assessment of the potential for increased productivity

NASA Technical Reports Server (NTRS)

Weeks, David J.; Zimmerman, Wayne F.; Swietek, Gregory E.; Reid, David H.; Hoffman, Ronald B.; Stammerjohn, Lambert W., Jr.; Stoney, William; Ghovanlou, Ali H.

1990-01-01

This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues.

Gigapan Voyage for Robotic Recon

NASA Technical Reports Server (NTRS)

Lee, Susan Y.; Moorse, Theodore Fitzgerald; Park, Eric J.

2010-01-01

Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group

The procedure safety system

NASA Technical Reports Server (NTRS)

Obrien, Maureen E.

1990-01-01

Telerobotic operations, whether under autonomous or teleoperated control, require a much more sophisticated safety system than that needed for most industrial applications. Industrial robots generally perform very repetitive tasks in a controlled, static environment. The safety system in that case can be as simple as shutting down the robot if a human enters the work area, or even simply building a cage around the work space. Telerobotic operations, however, will take place in a dynamic, sometimes unpredictable environment, and will involve complicated and perhaps unrehearsed manipulations. This creates a much greater potential for damage to the robot or objects in its vicinity. The Procedural Safety System (PSS) collects data from external sensors and the robot, then processes it through an expert system shell to determine whether an unsafe condition or potential unsafe condition exists. Unsafe conditions could include exceeding velocity, acceleration, torque, or joint limits, imminent collision, exceeding temperature limits, and robot or sensor component failure. If a threat to safety exists, the operator is warned. If the threat is serious enough, the robot is halted. The PSS, therefore, uses expert system technology to enhance safety thus reducing operator work load, allowing him/her to focus on performing the task at hand without the distraction of worrying about violating safety criteria.

Dynamic modeling and optimal joint torque coordination of advanced robotic systems

NASA Astrophysics Data System (ADS)

Kang, Hee-Jun

The development is documented of an efficient dynamic modeling algorithm and the subsequent optimal joint input load coordination of advanced robotic systems for industrial application. A closed-form dynamic modeling algorithm for the general closed-chain robotic linkage systems is presented. The algorithm is based on the transfer of system dependence from a set of open chain Lagrangian coordinates to any desired system generalized coordinate set of the closed-chain. Three different techniques for evaluation of the kinematic closed chain constraints allow the representation of the dynamic modeling parameters in terms of system generalized coordinates and have no restriction with regard to kinematic redundancy. The total computational requirement of the closed-chain system model is largely dependent on the computation required for the dynamic model of an open kinematic chain. In order to improve computational efficiency, modification of an existing open-chain KIC based dynamic formulation is made by the introduction of the generalized augmented body concept. This algorithm allows a 44 pct. computational saving over the current optimized one (O(N4), 5995 when N = 6). As means of resolving redundancies in advanced robotic systems, local joint torque optimization is applied for effectively using actuator power while avoiding joint torque limits. The stability problem in local joint torque optimization schemes is eliminated by using fictitious dissipating forces which act in the necessary null space. The performance index representing the global torque norm is shown to be satisfactory. In addition, the resulting joint motion trajectory becomes conservative, after a transient stage, for repetitive cyclic end-effector trajectories. The effectiveness of the null space damping method is shown. The modular robot, which is built of well defined structural modules from a finite-size inventory and is controlled by one general computer system, is another class of evolving, highly versatile, advanced robotic systems. Therefore, finally, a module based dynamic modeling algorithm is presented for the dynamic coordination of such reconfigurable modular robotic systems. A user interactive module based manipulator analysis program (MBMAP) has been coded in C language running on 4D/70 Silicon Graphics.

Design and Experimental Validation of a Simple Controller for a Multi-Segment Magnetic Crawler Robot

DTIC Science & Technology

2015-04-01

Ave, Cambridge, MA USA 02139; bSpace and Naval Warfare (SPAWAR) Systems Center Pacific, San Diego, CA USA 92152 ABSTRACT A novel, multi-segmented...high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors. This paper presents the...to be demonstrated.14 The Unmanned Systems Group at SPAWAR Systems Center Pacific has developed a multi-segment magnetic crawler robot (MSMR

Personnel occupied woven envelope robot power

NASA Technical Reports Server (NTRS)

1987-01-01

The Human Occupied Space Teleoperator (HOST) system currently under development utilizes a flexible tunnel/Stewart table structure to provide crew access to a pressurized manned work station or POD on the space station without extravehicular activity (EVA). The HOST structure facilitates moving a work station to multiple space station locations. The system has applications to orbiter docking, space station assembly, satellite servicing, space station maintenance, and logistics support. The conceptual systems design behind HOST is described in detail.

Robotic tele-existence

NASA Technical Reports Server (NTRS)

Tachi, Susumu; Arai, Hirohiko; Maeda, Taro

1989-01-01

Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed.

The sixth generation robot in space

NASA Technical Reports Server (NTRS)

Butcher, A.; Das, A.; Reddy, Y. V.; Singh, H.

1990-01-01

The knowledge based simulator developed in the artificial intelligence laboratory has become a working test bed for experimenting with intelligent reasoning architectures. With this simulator, recently, small experiments have been done with an aim to simulate robot behavior to avoid colliding paths. An automatic extension of such experiments to intelligently planning robots in space demands advanced reasoning architectures. One such architecture for general purpose problem solving is explored. The robot, seen as a knowledge base machine, goes via predesigned abstraction mechanism for problem understanding and response generation. The three phases in one such abstraction scheme are: abstraction for representation, abstraction for evaluation, and abstraction for resolution. Such abstractions require multimodality. This multimodality requires the use of intensional variables to deal with beliefs in the system. Abstraction mechanisms help in synthesizing possible propagating lattices for such beliefs. The machine controller enters into a sixth generation paradigm.

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Supplement, Appendix 4.3: Candidate ARAMIS Capabilities

NASA Technical Reports Server (NTRS)

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

1982-01-01

Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions, in the years 1985-2000, so that NASA may make informed decisions on which aspects of ARAMIS to develop. The study first identifies the specific tasks which will be required by future space projects. It then defines ARAMIS options which are candidates for those space project tasks, and evaluates the relative merits of these options. Finally, the study identifies promising applications of ARAMIS, and recommends specific areas for further research. The ARAMIS options defined and researched by the study group span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

STS-111 Onboard Photo of the International Space Station

NASA Technical Reports Server (NTRS)

2002-01-01

Backdropped against the blackness of space is the International Space Station (ISS), as viewed from the approching Space Shuttle Orbiter Endeavour, STS-111 mission, in June 2002. Expedition Five replaced Expedition Four crew after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish the delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm, and the task of unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

International Space Station (ISS)

NASA Image and Video Library

2002-06-07

Backdropped against the blackness of space is the International Space Station (ISS), as viewed from the approching Space Shuttle Orbiter Endeavour, STS-111 mission, in June 2002. Expedition Five replaced Expedition Four crew after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish the delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm, and the task of unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

Robot arm system for automatic satellite capture and berthing

NASA Technical Reports Server (NTRS)

Nishida, Shinichiro; Toriu, Hidetoshi; Hayashi, Masato; Kubo, Tomoaki; Miyata, Makoto

1994-01-01

Load control is one of the most important technologies for capturing and berthing free flying satellites by a space robot arm because free flying satellites have different motion rates. The performance of active compliance control techniques depend on the location of the force sensor and the arm's structural compliance. A compliance control technique for the robot arm's structural elasticity and a consideration for an end-effector appropriate for it are presented in this paper.

2014-2685

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- Kennedy Space Center engineer Marc Seibert presents the Communication Award to the University of New Hampshire team members during NASA's 2014 Robotic Mining Competition award ceremony inside the Space Shuttle Atlantis attraction at the Kennedy Space Center Visitor Complex in Florida. The team moved 10 kilograms of simulated Martian soil with its robot while using the least amount of communication power. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. The competition includes on-site mining, writing a systems engineering paper, performing outreach projects for K-12 students, slide presentation and demonstrations, and team spirit. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

International Space Station (ISS)

NASA Image and Video Library

2001-04-28

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

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.

Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Benchmarks of programming languages for special purposes in the space station

NASA Technical Reports Server (NTRS)

Knoebel, Arthur

1986-01-01

Although Ada is likely to be chosen as the principal programming language for the Space Station, certain needs, such as expert systems and robotics, may be better developed in special languages. The languages, LISP and Prolog, are studied and some benchmarks derived. The mathematical foundations for these languages are reviewed. Likely areas of the space station are sought out where automation and robotics might be applicable. Benchmarks are designed which are functional, mathematical, relational, and expert in nature. The coding will depend on the particular versions of the languages which become available for testing.

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1982-01-01

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Self-development of visual space perception by learning from the hand

NASA Astrophysics Data System (ADS)

Chung, Jae-Moon; Ohnishi, Noboru

1998-10-01

Animals have been considered to develop ability for interpreting images captured on their retina by themselves gradually from their birth. For this they do not need external supervisor. We think that the visual function is obtained together with the development of hand reaching and grasping operations which are executed by active interaction with environment. On the viewpoint of hand teaches eye, this paper shows how visual space perception is developed in a simulated robot. The robot has simplified human-like structure used for hand-eye coordination. From the experimental results it may be possible to validate the method to describe how visual space perception of biological systems is developed. In addition the description gives a way to self-calibrate the vision of intelligent robot based on learn by doing manner without external supervision.

KSC-03pd0903

NASA Image and Video Library

2003-03-22

KENNEDY SPACE CENTER, FLA. - Members of the Merritt Island and Edgewood Middle School students/Lockheed Martin team maneuver their robot during competition. They are participating in the 2003 Southeastern Regional FIRST Robotic Competition being held at the University of Central Florida (UCF) in Orlando, March 20-23. Forty teams from around the country are participating in the event that pits team-built gladiator robots against each other in an athletic-style competition. The teams are sponsored by NASA-Kennedy Space Center, The Boeing Company/Brevard Community College, and Lockheed Martin Space Operations/Mission Systems for the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The vision of FIRST is to inspire in the youth of our nation an appreciation of science and technology and an understanding that mastering these disciplines can enrich the lives of all mankind.

KSC-03pd0904

NASA Image and Video Library

2003-03-22

KENNEDY SPACE CENTER, FLA. - Members of the Merritt Island and Edgewood Middle School students/Lockheed Martin team look over their robot. They are participating in the 2003 Southeastern Regional FIRST Robotic Competition being held at the University of Central Florida (UCF) in Orlando, March 20-23. Forty teams from around the country are participating in the event that pits team-built gladiator robots against each other in an athletic-style competition. The teams are sponsored by NASA-Kennedy Space Center, The Boeing Company/Brevard Community College, and Lockheed Martin Space Operations/Mission Systems for the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The vision of FIRST is to inspire in the youth of our nation an appreciation of science and technology and an understanding that mastering these disciplines can enrich the lives of all mankind.

KSC-03pd0902

NASA Image and Video Library

2003-03-22

KENNEDY SPACE CENTER, FLA. -- The Merritt Island and Edgewood Middle School students/Lockheed Martin team, participating in the 2003 Southeastern Regional FIRST Robotic Competition, work on their team-built robot. The competition is being held at the University of Central Florida (UCF) in Orlando, March 20-23. Forty teams from around the country are participating in the event that pits team-built gladiator robots against each other in an athletic-style competition. The teams are sponsored by NASA-Kennedy Space Center, The Boeing Company/Brevard Community College, and Lockheed Martin Space Operations/Mission Systems for the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The vision of FIRST is to inspire in the youth of our nation an appreciation of science and technology and an understanding that mastering these disciplines can enrich the lives of all mankind.

0g Climbing - The Challenge of Walking in Space

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Rehnmark, Frederik; Goza, Michael

2003-01-01

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall -- an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

0g Climbing - The Challenge of Walking in Space

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Rehnmark, Frederik; Goza, Michael

2004-01-01

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall-an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05764 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05765 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

Securing Safety with Sensors

NASA Technical Reports Server (NTRS)

2004-01-01

The Robot Systems Technology Branch at NASA's Johnson Space Center collaborated with the Defense Advanced Research Projects Agency to design Robonaut, a humanoid robot developed to assist astronauts with Extra Vehicular Activities (EVA) such as space structure assembly and repair operations. By working side-by-side with astronauts or going where risks are too great for people, Robonaut is expected to expand the Space Agency s ability for construction and discovery. NASA engineers equipped Robonaut with human-looking, dexterous hands complete with five fingers to accomplish its tasks. The Robonaut hand is one of the first being developed for space EVA use and is the closest in size and capability to a suited astronaut s hand. As part of the development process, an advanced sensor system was needed to provide an improved method to measure the movement and forces exerted by Robonaut s forearms and hands.

Mini AERCam: A Free-Flying Robot for Space Inspection

NASA Technical Reports Server (NTRS)

Fredrickson, Steven

2001-01-01

The NASA Johnson Space Center Engineering Directorate is developing the Autonomous Extravehicular Robotic Camera (AERCam), a free-flying camera system for remote viewing and inspection of human spacecraft. The AERCam project team is currently developing a miniaturized version of AERCam known as Mini AERCam, a spherical nanosatellite 7.5 inches in diameter. Mini AERCam development builds on the success of AERCam Sprint, a 1997 Space Shuttle flight experiment, by integrating new on-board sensing and processing capabilities while simultaneously reducing volume by 80%. Achieving these productivity-enhancing capabilities in a smaller package depends on aggressive component miniaturization. Technology innovations being incorporated include micro electromechanical system (MEMS) gyros, "camera-on-a-chip" CMOS imagers, rechargeable xenon gas propulsion, rechargeable lithium ion battery, custom avionics based on the PowerPC 740 microprocessor, GPS relative navigation, digital radio frequency communications and tracking, micropatch antennas, digital instrumentation, and dense mechanical packaging. The Mini AERCam free-flyer will initially be integrated into an approximate flight-like configuration for laboratory demonstration on an airbearing table. A pilot-in-the-loop and hardware-in-the-loop simulation to simulate on-orbit navigation and dynamics will complement the airbearing table demonstration. The Mini AERCam lab demonstration is intended to form the basis for future development of an AERCam flight system that provides on-orbit views of the Space Shuttle and International Space Station unobtainable from fixed cameras, cameras on robotic manipulators, or cameras carried by space-walking crewmembers.

Space Robotics: AWIMR an Overview

NASA Technical Reports Server (NTRS)

Wagner, Rick

2006-01-01

This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.

Design Of Robots For Outer Space

NASA Technical Reports Server (NTRS)

Roston, Gerald P.

1990-01-01

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

Estimating anatomical wrist joint motion with a robotic exoskeleton.

PubMed

Rose, Chad G; Kann, Claudia K; Deshpande, Ashish D; O'Malley, Marcia K

2017-07-01

Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multi-articular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

Autonomous space processor for orbital debris

NASA Technical Reports Server (NTRS)

Ramohalli, Kumar; Marine, Micky; Colvin, James; Crockett, Richard; Sword, Lee; Putz, Jennifer; Woelfle, Sheri

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Design reuse experience of space and hazardous operations robots

NASA Technical Reports Server (NTRS)

Oneil, P. Graham

1994-01-01

A comparison of design drivers for space and hazardous nuclear waste operating robots details similarities and differences in operations, performance and environmental parameters for these critical environments. The similarities are exploited to provide low risk system components based on reuse principles and design knowledge. Risk reduction techniques are used for bridging areas of significant differences. As an example, risk reduction of a new sensor design for nuclear environment operations is employed to provide upgradeable replacement units in a reusable architecture for significantly higher levels of radiation.

Robust stability of second-order systems

NASA Technical Reports Server (NTRS)

Chuang, C.-H.

1993-01-01

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Large space structures and systems in the space station era: A bibliography with indexes (supplement 03)

NASA Technical Reports Server (NTRS)

1991-01-01

Bibliographies and abstracts are listed for 1221 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1991 and June 30, 1991. Topics covered include large space structures and systems, space stations, extravehicular activity, thermal environments and control, tethering, spacecraft power supplies, structural concepts and control systems, electronics, advanced materials, propulsion, policies and international cooperation, vibration and dynamic controls, robotics and remote operations, data and communication systems, electric power generation, space commercialization, orbital transfer, and human factors engineering.

KSC-2010-1195

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, this close-up shows the electrical flight grapple fixture which will be installed in the forward transition and X-guide restraint of the inspection boom assembly, or IBA, on space shuttle Atlantis' orbiter boom sensor system, or OBSS. The IBA is removed from the shuttle every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

Human Factors in Automated and Robotic Space Systems: Proceedings of a Symposium (Washington, D.C., January 29-30, 1987).

ERIC Educational Resources Information Center

Sheridan, Thomas B., Ed.; And Others

This document attempts to identify and promote human factors research that would likely produce results applicable to the evolutionary design of a National Aeronautics and Space Administration (NASA) national space station to be launched in the 1990s. It reports on a symposium designed to yield information applicable to future space systems. The…

Universe exploration vision

NASA Technical Reports Server (NTRS)

O'Handley, D.; Swan, P.; Sadeh, W.

1992-01-01

U.S. space policy is discussed in terms of present and planned activities in the solar system and beyond to develop a concept for expanding space travel. The history of space exploration is briefly reviewed with references to the Mariner II, Apollo, and Discoverer programs. Attention is given to the issues related to return trips to the moon, sprint vs repetitive missions to Mars, and the implications of propulsion needs. The concept of terraforming other bodies within the solar system so that they can support human activity is identified as the next major phase of exploration. The following phase is considered to be the use of robotic or manned missions that extend beyond the solar system. Reference is given to a proposed Thousand Astronomical Units mission as a precursor to exploratory expansion into the universe, and current robotic mission activities are mentioned.

Fuzzy Control/Space Station automation

NASA Technical Reports Server (NTRS)

Gersh, Mark

1990-01-01

Viewgraphs on fuzzy control/space station automation are presented. Topics covered include: Space Station Freedom (SSF); SSF evolution; factors pointing to automation & robotics (A&R); astronaut office inputs concerning A&R; flight system automation and ground operations applications; transition definition program; and advanced automation software tools.

Earth's horizon

NASA Image and Video Library

2005-07-30

S114-E-6076 (30 July 2005) --- The blackness of space and Earth’s horizon form the backdrop for this view of the extended Space Shuttle Discovery’s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

Application of external axis in thermal spraying

NASA Astrophysics Data System (ADS)

Gao, Guoyou; Wang, Wei; Chen, Tao; Hui, Chun

2018-05-01

Industrial robots are widely used nowadays in the process of thermal spraying, human work can be largely replaced due to the high-efficient, security, precision and repeatability of industrial robot. As offering the convenience to industrial product, Robots have some natural deficiencies because of its mechanical linkages of six-axis. When robot performs a series of stage of production, it could be hard to move to the next one because one of his axis reaches a maximum value. For this reason, external axis is added to robot system to extend the reachable space of robot axis. This paper concerns to the application of external axis and the different methods of programming the robot with work-holding external axis in the virtual environment. Experiments demonstrate the coating layer on the regular workpiece is uniform.

Marking parts to aid robot vision

NASA Technical Reports Server (NTRS)

Bales, J. W.; Barker, L. K.

1981-01-01

The premarking of parts for subsequent identification by a robot vision system appears to be beneficial as an aid in the automation of certain tasks such as construction in space. A simple, color coded marking system is presented which allows a computer vision system to locate an object, calculate its orientation, and determine its identity. Such a system has the potential to operate accurately, and because the computer shape analysis problem has been simplified, it has the ability to operate in real time.

Virtual Reality System Offers a Wide Perspective

NASA Technical Reports Server (NTRS)

2008-01-01

Robot Systems Technology Branch engineers at Johnson Space Center created the remotely controlled Robonaut for use as an additional "set of hands" in extravehicular activities (EVAs) and to allow exploration of environments that would be too dangerous or difficult for humans. One of the problems Robonaut developers encountered was that the robot s interface offered an extremely limited field of vision. Johnson robotics engineer, Darby Magruder, explained that the 40-degree field-of-view (FOV) in initial robotic prototypes provided very narrow tunnel vision, which posed difficulties for Robonaut operators trying to see the robot s surroundings. Because of the narrow FOV, NASA decided to reach out to the private sector for assistance. In addition to a wider FOV, NASA also desired higher resolution in a head-mounted display (HMD) with the added ability to capture and display video.

Automation and robotics

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin

1988-01-01

The Autonomous Systems focus on the automation of control systems for the Space Station and mission operations. Telerobotics focuses on automation for in-space servicing, assembly, and repair. The Autonomous Systems and Telerobotics each have a planned sequence of integrated demonstrations showing the evolutionary advance of the state-of-the-art. Progress is briefly described for each area of concern.

Development and Deployment of Robonaut 2 to the International Space Station

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.

2011-01-01

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

JSC flight experiment recommendation in support of Space Station robotic operations

NASA Astrophysics Data System (ADS)

Berka, Reginald B.

1993-02-01

The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This tendency will provide the foothold for deploying space robots. This paper outlines a flight experiment that will capitalize on the investment in robotic technology made by NASA over the past ten years. The flight experiment described herein provides the technology demonstration necessary for taking advantage of the expected opportunity at MTC. As a context to this flight experiment, a broader view of the strategy developed at the JSC is required. The JSC is building toward MTC by developing a ground-based SSF emulation funded jointly by internal funds, NASA/Code R, and NASA/Code M. The purpose of this ground-based Station is to provide a platform whereby technology originally developed at JPL, LaRC, and GSFC can be integrated into a near flight-like condition. For instance, the Automated Robotic Maintenance of Space Station (ARMSS) project integrates flat targets, surface inspection, and other JPL technologies into a Station analogy for evaluation. Also, ARMSS provides the experimental platform for the Capaciflector from GSPC to be evaluated for its usefulness in performing ORU change out or other tasks where proximity detection is required. The use and enhancement of these ground-based SSF models are planned for use through FY-93. The experimental data gathered from tests in these facilities will provide the basis for the technology content of the proposed flight experiment.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion.

PubMed

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il Dan

2018-01-10

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.