Technology for robotic surface inspection in space

This paper presents on-going research in robotic inspection of space platforms. Three main areas of investigation are discussed: machine vision inspection techniques, an integrated sensor end-effector, and an orbital environment laboratory simulation. Machine vision inspection utilizes automatic comparison of new and reference images to detect on-orbit induced damage such as micrometeorite impacts. The cameras and lighting used for this inspection are housed in a multisensor end-effector, which also contains a suite of sensors for detection of temperature, gas leaks, proximity, and forces. To fully test all of these sensors, a realistic space platform mock-up has been created, complete with visual, temperature, and gas anomalies. Further, changing orbital lighting conditions are effectively mimicked by a robotic solar simulator. In the paper, each of these technology components will be discussed, and experimental results are provided

Autonomous control for on-orbit assembly using artificial potential functions

Current spacecraft mission analysis has highlighted a requirement for the assembly of large structures in Earth Orbit. This thesis investigates an autonomous method of assembly for such large structures. The scheme envisaged is based on Lyapunov's method which is extended to potential function theory. The method forms an analytical solution to the assembly problem by generating high level control commands which are then devolved to individual actuator commands for the assembly vehicles. The application of the method to general assembly problems has allowed the development of a generic global potential function. The application of the global potential function has required the use of a connectivity matrix which contains the information required to assemble the goal structure. Thus, a structure may be modified by altering only the characteristics of the connectivity matrix. The generic assembly method is then applied using a subsumptive type architecture which allows the assembly controller to delegate sub-components of the total structure to secondary controllers. Therefore, the method may then be utilised to construct complex structures, which, when linked to the use of smart components and joints allows the assembly of adaptive structures. These adaptive and variable topology structures which may change their functionality with time may prove useful for future mission applications

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

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