Autonomous Mechanical Assembly on the Space Shuttle: An Overview

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed

Overview of technologies for constructing the facilities at the Dniester pumped storage power station

Purpose. Perform an overview of the construction technologies and substantiate the effectiveness of the Ukrainian experience in building a pumped storage power station (PSPS) on the Dniester River in difficult engineering-geological conditions with the construction of large underground structures, including mine shafts and hydraulic engineering tunnels. Methods. In the work, the main technological methods have been studied and analysed of hydraulic engineering construction of complex large underground structures in the rocks with medium hardness according to M.M. Protodiakonov scale using a special method of a well lowering and a combined method of drilling and blasting operations during mine workings drivage, which is based on the slow and short-delay blasting. The anchors calculation, when driving the water sup-ply conduits, has been made from the condition of suspending the block of disturbed rock, the thickness of which was taken equal to the roof arch height according to M.M. Protodiakonov. The parameters of the sprayed plaster base concrete have also been calculated according to V.M. Mostkov theory. Findings. The analysis of the current state of research, theoretical positions and world practice of construction of PSPS has been made, which testifies the high potential of this type of energy facilities. The efficiency of the underground hydraulic engineering construction of the Dniester Station has been substantiated. The results are presented of a complex application of mining and construction methods, as well as processing equipment for the construction of horizontal and tailrace conduits, drainage adits and vertical mines for hydraulic units in difficult engineering and geological conditions. As a result of performed analytical studies, the combined method of constructing the anchor support of sprayed plaster base concrete, when driving the water supply conduits, which is the most rational for engineering and geological conditions of increased complexity, has been substantiated. Originality. The efficiency of the lowering well method in a thixotropic jacket when constructing in the soft soils has been determined under the conditions of building a PSPS on the Dniester River. The step-by-step combined method of constructing the anchor support of sprayed plaster base concrete, when driving the water supply conduits has been substantiated. Practical implications. The most rational ways of conducting a range of mining-construction works have been substantiated and implemented, allowing to construct a complex pumped storage facility with a capacity of over 2.0 million kilowatts, ensuring a significant increase in the power supply capacity of the West Ukraine region.Мета. Виконати огляд технологій спорудження й виявити ефективність українського досвіду будівництва гідроакумулюючої електростанції на р. Дністер у складних інженерно-геологічних умовах зі зведенням великих підземних об’єктів, включаючи шахтні стовбури та гідротехнічні тунелі. Методика. В роботі розглянуті та проаналізовані основні технологічні способи гідротехнічного будівництва складних великих підземних споруд у скальних породах середньої міцності за шкалою М.М. Протод’яконова із застосуванням спеціального способу опускного колодязя й комбінованого способу ведення буропідривних робіт при проходці гірничих виробок на основі уповільненого і короткоуповільненого підривання. Розрахунок анкерів при проходці водоводів виконувався з умови підвішування блоку порушеної породи, товщина якого приймалася рівною висоті склепіння обвалення за М.М. Протод’яконовим. Розрахунок параметрів набризгбетону проводився також за теорією В.М. Мосткова. Результати. Виконано аналіз сучасного стану досліджень, теоретичних положень і світової практики будівництва гідроакумулюючих станцій, що свідчить про високий потенціал даного виду енергетичних об’єктів. Обґрунтовано ефективність підземного гідротехнічного будівництва Дністровської станції. Представлені результати застосування комплексу гірничопрохідницьких і будівельних методів та технологічного обладнання для спорудження горизонтальних і відвідних водоводів, дренажних штолень та вертикальних шахт для гідроагрегатів у складних інженерно-геологічних умовах. В результаті виконаних аналітичних досліджень обґрунтова- ний комбінований метод створення анкерного набризгбетонного кріплення при проходці водоводів, що є най- більш раціональним для інженерно-геологічних умов підвищеної складності. Наукова новизна. Для умов будівництва гідроакумулюючої електростанції на р. Дністер визначено ефективність методу опускного колодязя в тиксотропної сорочці при будівництві в слабких ґрунтах. Обґрунтовано поетапний комбінований метод створення анкерного й набризгбетонного кріплення при проходці водоводів. Практична значимість. Обґрунтовано й впроваджено найбільш раціональні способи ведення комплексу гірничобудівельних робіт, що дозволяють здійснювати будівництво складного гідроакумулюючого об’єкта потужністю понад 2.0 млнкіловат, що забезпечує суттєве підвищення енергоозброєності західного регіону України.Цель. Выполнить обзор технологий сооружения и выявить эффективность украинского опыта строительства гидроаккумулирующей электростанции на р. Днестр в сложных инженерно-геологических условиях с воз- ведением крупных подземных объектов, включая шахтные стволы и гидротехнические тоннели. Методика. В работе рассмотрены и проанализированы основные технологические способы гидротехнического строительства сложных крупных подземных сооружений в скальных породах средней крепости по шкале М.М. Протодьяконова с применением специального способа опускного колодца и комбинированного способа ведения буровзрывных работ при проходке горных выработок на основе замедленного и короткозамедленного взрывания. Расчет анкеров при проходке водоводов выполнялся из условия подвешивания блока нарушенной породы, толщина которого принималась равной высоте свода обрушения по М.М. Протодьяконову. Расчет параметров набрызгбетона производился также по теории В.М. Мосткова. Результаты. Выполнен анализ современного состояния исследований, теоретических положений и мировой практики строительства гидроаккумулирующих станций, свидетельствующий о высоком потенциале данного вида энергетических объектов. Обоснована эффективность подземного гидротехнического строительства Днестровской станции. Представлены результаты применения комплекса горнопроходческих и строительных методов и технологического оборудования для сооружения горизонтальных и отводящих водоводов, дренажных штолен и вертикальных шахт для гидроагрегатов в сложных инженерно-геологических условиях. В результате выполненных аналитических исследований обоснован комбинированный метод создания анкерной набрызгбетонной крепи при проходке водоводов, являющийся наиболее рациональным для инженерно-геологических условий повышенной сложности. Научная новизна. Для условий строительства гидроаккумулирующей электростанции на р. Днестр определена эффективность метода опускного колодца в тиксотропной рубашке при строительстве в слабых грунтах. Обоснован поэтапный комбинированный метод создания анкерной и набрызгбетонной крепей при проходке водоводов. Практическая значимость. Обоснованы и внедрены наиболее рациональные способы ведения комплекса горностроительных работ, позволяющие осуществлять строительство сложного гидроаккумулирующего объекта мощностью более 2.0 млн киловатт и обеспечивающего существенное повышение энерговооруженности западного региона Украины.The authors express their gratitude to Viacheslav Korytskyi, Deputy Chief Engineer of the Tunnel Construction Department No.7, PJSC “Kyivmetrobud”, for advisory support and provided drawings

Importance and applications of robotic and autonomous systems (RAS) in railway maintenance sector: a review

Maintenance, which is critical for safe, reliable, quality, and cost-effective service, plays a dominant role in the railway industry. Therefore, this paper examines the importance and applications of Robotic and Autonomous Systems (RAS) in railway maintenance. More than 70 research publications, which are either in practice or under investigation describing RAS developments in the railway maintenance, are analysed. It has been found that the majority of RAS developed are for rolling-stock maintenance, followed by railway track maintenance. Further, it has been found that there is growing interest and demand for robotics and autonomous systems in the railway maintenance sector, which is largely due to the increased competition, rapid expansion and ever-increasing expense

NASA Automated Rendezvous and Capture Review. Executive summary

In support of the Cargo Transfer Vehicle (CTV) Definition Studies in FY-92, the Advanced Program Development division of the Office of Space Flight at NASA Headquarters conducted an evaluation and review of the United States capabilities and state-of-the-art in Automated Rendezvous and Capture (AR&C). This review was held in Williamsburg, Virginia on 19-21 Nov. 1991 and included over 120 attendees from U.S. government organizations, industries, and universities. One hundred abstracts were submitted to the organizing committee for consideration. Forty-two were selected for presentation. The review was structured to include five technical sessions. Forty-two papers addressed topics in the five categories below: (1) hardware systems and components; (2) software systems; (3) integrated systems; (4) operations; and (5) supporting infrastructure

Autonomous berthing/unberthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF)

Discussed here is the autonomous berthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF) developed by NASA for berthing and docking applications in space. The WAM/WAF system enables fast and reliable berthing (unberthing) of space hardware. A successful operation of the WAM/WAF requires that the WAM motor velocity be precisely controlled. The operating principle and the design of the WAM/WAF is described as well as the development of a control system used to regulate the WAM motor velocity. The results of an experiment in which the WAM/WAF is used to handle an orbital replacement unit are given

FeederAnt - An autonomous mobile unit feeding outdoor pigs

Small robots and the concept of decentralized animal husbandry make it possible to renew the principles of organic agriculture. The farm animals will be able to use the same type of housing and are placed integrated with the fields. This is expected to achieve a better utilization of nutrients and a better survival rate for useful insects and micro organisms. The small fields are flexible and could fit to the variation in soil structure topography. This type of precision agriculture has the possibility of increasing biodiversity. The paper presents the concept of an autonomic feeding system for outdoor piglets. Initial results are presented using a remote controlled feeding unit (a prototype of the FeederAnt) to feed several pens with piglets. The FeederAnt drives into the grass paddocks twice a day and position itself in a new location for each feeding. This will help to distribute the manure from the animals evenly over the grass paddock to prevent point leaching of nutrients. The FeederAnt replaces many stationary feeding tables and reduce the amount of daily manual feeding routines. Further, it is expected that the problem with vermins will be solved since no feed residues will be left within the pens.

Design of a Base-Board for arrays of closely-packed Multi-Anode Photo-Multipliers

We describe the design of a Base-Board to house Multi-Anode Photo-Multipliers for use in large-area arrays of light sensors. The goals, the design, the results of tests on the prototypes and future developments are presented.Comment: 16 pages, 5 figures, submitted to Nucl. Instrum. and Meth.

Robotic Specialization in Autonomous Robotic Structural Assembly

Robotic in-space assembly of large space structures is a long-term NASA goal to reduce launch costs and enable larger scale missions. Recently, researchers have proposed using discrete lattice building blocks and co-designed robots to build high-performance, scalable primary structure for various on-orbit and surface applications. These robots would locomote on the lattice and work in teams to build and reconfigure building-blocks into functional structure. However, the most reliable and efficient robotic system architecture, characterized by the number of different robotic 'species' and the allocation of functionality between species, is an open question. To address this problem, we decompose the robotic building-block assembly task into functional primitives and, in simulation, study the performance of the the variety of possible resulting architectures. For a set consisting of five process types (move self, move block, move friend, align bock, fasten block), we describe a method of feature space exploration and ranking based on energy and reliability cost functions. The solution space is enumerated, filtered for unique solutions, and evaluated against energy and reliability cost functions for various simulated build sizes. We find that a 2 species system, dividing the five mentioned process types between one unit cell transport robot and one fastening robot, results in the lowest energy cost system, at some cost to reliability. This system enables fastening functionality to occupy the build front while reducing the need for that functional mass to travel back and forth from a feed station. Because the details of a robot design affect the weighting and final allocation of functionality, a sensitivity analysis was conducted to evaluate the effect of changing mass allocations on architecture performance. Future systems with additional functionalities such as repair, inspection, and others may use this process to analyze and determine alternative robot architectures

Androgynous Fasteners for Robotic Structural Assembly

We describe the design and analysis of an androgynous fastener for autonomous robotic assembly of high performance structures. The design of these fasteners aims to prioritize ease of assembly through simple actuation with large driver positioning tolerance requirements, while producing a reversible mechanical connection with high strength and stiffness per mass. This can be applied to high strength to weight ratio structural systems, such as discrete building block based systems that offer reconfigurability, scalability, and system lifecycle efficiency. Such periodic structures are suitable for navigation and manipulation by relatively small mobile robots. The integration of fasteners, which are lightweight and can be robotically installed, into a high performance robotically managed structural system is of interest to reduce launch energy requirements, enable higher mission adaptivity, and decrease system life-cycle costs