An intelligent, free-flying robot

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base

Geoscience and a Lunar Base: A Comprehensive Plan for Lunar Exploration

This document represents the proceedings of the Workshop on Geoscience from a Lunar Base. It describes a comprehensive plan for the geologic exploration of the Moon. The document begins by explaining the scientific importance of studying the Moon and outlines the many unsolved problems in lunar science. Subsequent chapters detail different, complementary approaches to geologic studies: global surveys, including orbiting spacecraft such as Lunar Observer and installation of a global geophysical network; reconnaissance sample return mission, by either automated rovers or landers, or by piloted forays; detailed field studies, which involve astronauts and teleoperated robotic field geologists. The document then develops a flexible scenario for exploration and sketches the technological developments needed to carry out the exploration scenario

Teleoperator/robot technology can help solve biomedical problems

Teleoperator and robot technology appears to offer the possibility to apply these techniques to the benefit for the severely handicapped giving them greater self reliance and independence. Major problem areas in the development of prostheses and remotely controlled devices for the handicapped are briefly discussed, and the parallelism with problems in the development of teleoperator/robots identified. A brief description of specific ongoing and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) is provided

Automated Fibre Placement with In-Situ Ultraviolet Curing and On-The-Fly Resin Impregnation

Vehicle emissions contribute to up to one third of the world's air pollution [1]. Reducing vehicle weight is crucial to reducing these emissions. Composite materials offer high specific strength-to-weight ratios which make them ideal for lightweight applications; however, existing composite manufacturing is slow and expensive. Automated Fibre Placement (AFP) is a state-of-the-art composite manufacturing process but is limited by the low complexity of parts it can produce; the cost, size and speed of the actuation systems; expensive and sensitive material options; and numerous pre and post-processes required in order to complete a part. This research proposes a new and efficient composite manufacturing process that addresses these limitations by combining AFP technology with in-situ ultraviolet (UV) curing and on-the-fly fibre and resin impregnation (UVAFP). The body of this thesis focused on proving the process concept and building robust predictive models for the technology. It was proposed that reducing the size of the placement head would increase the capability of this technique to manufacture more complex parts. It was shown that by optimising the placement head clearance angle, placement head width and the compaction roller radius the minimum placement radius and arc length could be as small as 100mm and 90 degrees respectively. It was also demonstrated that industrial robots were sufficiently accurate and repeatable to act as placement articulators for AFP. The feed rate, path interpolation point filtering and spindle speed were optimised to achieve a path following accuracy of less than 0.042mm. By increasing the tension in the tow and compaction force, dry fibre tows were shown to be a suitably dimensionally stable replacement for expensive towpregs with minimal gaps and overlaps. Dry glass fibre tows and bulk vinylester resin impregnated on-the-fly was chosen as an inexpensive and versatile material system and consolidation approach for use in UVAFP. The material system was shown to have comparable mechanical properties to aluminium and steel but lighter with equivalent properties to composites manufactured by traditional techniques. Rapid impregnation times were demonstrated up to 2160 mm/sec. High intensity UV light curing eliminated the need for post process curing and shortened the cure time and increased layup speeds. When the UV light was applied in a ply-by-ply in-situ approach, the cure time was measured to decrease the current thermal cure cycle length by 43.75% and the degree-of-cure was increased by 1.3% (as measured indirectly by the interlaminar shear strength). By characterising the process parameters the effect on degree of cure and degradation could be controlled and predicted. A degree of cure in excess of 99% was achieved, providing equivalent material properties to traditional thermal cured composites while minimising peak exposure temperatures, thus reducing mass loss caused by thermo-oxidative degradation. UVAFP was demonstrated to be a viable composite manufacturing process capable of producing high quality components and addressing the limitations of current AFP systems. The technology was shown to address efficiency shortfalls and make composite manufacturing economical and accessible to vehicle manufacturers searching for manufacturing process solutions for lightweight

The Role of Robots and Automation in Space

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

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology

A mission control architecture for robotic lunar sample return as field tested in an analogue deployment to the Sudbury impact structure

A Mission Control Architecture is presented for a Robotic Lunar Sample Return Mission which builds upon the experience of the landed missions of the NASA Mars Exploration Program. This architecture consists of four separate processes working in parallel at Mission Control and achieving buy-in for plans sequentially instead of simultaneously from all members of the team. These four processes were: Science Processing, Science Interpretation, Planning and Mission Evaluation. Science Processing was responsible for creating products from data downlinked from the field and is organized by instrument. Science Interpretation was responsible for determining whether or not science goals are being met and what measurements need to be taken to satisfy these goals. The Planning process, responsible for scheduling and sequencing observations, and the Evaluation process that fostered inter-process communications, reporting and documentation assisted these processes. This organization is advantageous for its flexibility as shown by the ability of the structure to produce plans for the rover every two hours, for the rapidity with which Mission Control team members may be trained and for the relatively small size of each individual team. This architecture was tested in an analogue mission to the Sudbury impact structure from June 6-17, 2011. A rover was used which was capable of developing a network of locations that could be revisited using a teach and repeat method. This allowed the science team to process several different outcrops in parallel, downselecting at each stage to ensure that the samples selected for caching were the most representative of the site. Over the course of 10 days, 18 rock samples were collected from 5 different outcrops, 182 individual field activities - such as roving or acquiring an image mosaic or other data product - were completed within 43 command cycles, and the rover travelled over 2,200 m. Data transfer from communications passes were filled to 74%. Sample triage was simulated to allow down-selection to 1kg of material for return to Earth

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

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

Human factors in space telepresence

The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing