Automated eddy current analysis of materials

The use of eddy current techniques for characterizing flaws in graphite-based filament-wound cylindrical structures is described. A major emphasis was also placed upon incorporating artificial intelligence techniques into the signal analysis portion of the inspection process. Developing an eddy current scanning system using a commercial robot for inspecting graphite structures (and others) was a goal in the overall concept and is essential for the final implementation for the expert systems interpretation. Manual scans, as performed in the preliminary work here, do not provide sufficiently reproducible eddy current signatures to be easily built into a real time expert system. The expert systems approach to eddy current signal analysis requires that a suitable knowledge base exist in which correct decisions as to the nature of a flaw can be performed. A robotic workcell using eddy current transducers for the inspection of carbon filament materials with improved sensitivity was developed. Improved coupling efficiencies achieved with the E-probes and horseshoe probes are exceptional for graphite fibers. The eddy current supervisory system and expert system was partially developed on a MacIvory system. Continued utilization of finite element models for predetermining eddy current signals was shown to be useful in this work, both for understanding how electromagnetic fields interact with graphite fibers, and also for use in determining how to develop the knowledge base. Sufficient data was taken to indicate that the E-probe and the horseshoe probe can be useful eddy current transducers for inspecting graphite fiber components. The lacking component at this time is a large enough probe to have sensitivity in both the far and near field of a thick graphite epoxy component

A Benchtop Robotic Automation Approach for Manufacturing Prefilled Syringes

Automation and robotics have become a staple in the biological manufacturing sector due to their ability to efficiently work without operator inputs, with a high degree of accuracy and repeatability. Industrial robotic arms, in particular, present themselves as valuable tools for biological manufacturing scenarios that require customized solutions due to their ease of programming and flexibility. The traditional hospital-focused healthcare system was organically developed to address acute conditions, however, in recent years, due to the unprecedented occurrence of emergencies happening more frequently, fast and efficient drug production becomes important [17]. This thesis represents the use of a benchtop robot and automation system capable of manufacturing in-syringe liquid drugs. The compacted production space and design is aimed to provide an efficient production rate. The International Organization for Standardization (ISO) compliant robotic arm (St¨aubli TX2-60), customized designed end-effector, syringe venting system, and Cartesian gantry platform were designed, prototyped, and integrated to create an automated solution for manufacturing cyclic olefin copolymer (COC) polymer syringes. A Siemens programmable logic controller (PLC) system is developed to interface with the robot (through the St¨aubli Robotic Suite (SRS)) and the Nema-17 motor-driven Cartesian gantry platform. Automated filling of a tray of 50ml syringes was proven to be feasible, and the process of stoppering a COC syringe utilizing a customized designed venting tube was demonstrated as a proof of concept. An automated gantry system was also demonstrated as a proof of concept for a complete manufacturing system

Component-Level Electronic-Assembly Repair (CLEAR) System Architecture

This document captures the system architecture for a Component-Level Electronic-Assembly Repair (CLEAR) capability needed for electronics maintenance and repair of the Constellation Program (CxP). CLEAR is intended to improve flight system supportability and reduce the mass of spares required to maintain the electronics of human rated spacecraft on long duration missions. By necessity it allows the crew to make repairs that would otherwise be performed by Earth based repair depots. Because of practical knowledge and skill limitations of small spaceflight crews they must be augmented by Earth based support crews and automated repair equipment. This system architecture covers the complete system from ground-user to flight hardware and flight crew and defines an Earth segment and a Space segment. The Earth Segment involves database management, operational planning, and remote equipment programming and validation processes. The Space Segment involves the automated diagnostic, test and repair equipment required for a complete repair process. This document defines three major subsystems including, tele-operations that links the flight hardware to ground support, highly reconfigurable diagnostics and test instruments, and a CLEAR Repair Apparatus that automates the physical repair process

Design of Dynamics Invariant LSTM for Touch Based Human-UAV Interaction Detection

The field of Unmanned Aerial Vehicles (UAVs) has reached a high level of maturity in the last few years. Hence, bringing such platforms from closed labs, to day-to-day interactions with humans is important for commercialization of UAVs. One particular human-UAV scenario of interest for this paper is the payload handover scheme, where a UAV hands over a payload to a human upon their request. In this scope, this paper presents a novel real-time human-UAV interaction detection approach, where Long short-term memory (LSTM) based neural network is developed to detect state profiles resulting from human interaction dynamics. A novel data pre-processing technique is presented; this technique leverages estimated process parameters of training and testing UAVs to build dynamics invariant testing data. The proposed detection algorithm is lightweight and thus can be deployed in real-time using off the shelf UAV platforms; in addition, it depends solely on inertial and position measurements present on any classical UAV platform. The proposed approach is demonstrated on a payload handover task between multirotor UAVs and humans. Training and testing data were collected using real-time experiments. The detection approach has achieved an accuracy of 96\%, giving no false positives even in the presence of external wind disturbances, and when deployed and tested on two different UAVs.Comment: 13 pages, 13 figures, submitted to IEEE access, A supplementary video for the work presented in this paper can be accessed from https://youtu.be/29N_OXBl1m

Introduction to special section on the Phoenix Mission: Landing Site Characterization Experiments, Mission Overviews, and Expected Science

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/94752/1/jgre2486.pd

Aerosol Data Sources and Their Roles within PARAGON

We briefly but systematically review major sources of aerosol data, emphasizing suites of measurements that seem most likely to contribute to assessments of global aerosol climate forcing. The strengths and limitations of existing satellite, surface, and aircraft remote sensing systems are described, along with those of direct sampling networks and ship-based stations. It is evident that an enormous number of aerosol-related observations have been made, on a wide range of spatial and temporal sampling scales, and that many of the key gaps in this collection of data could be filled by technologies that either exist or are expected to be available in the near future. Emphasis must be given to combining remote sensing and in situ active and passive observations and integrating them with aerosol chemical transport models, in order to create a more complete environmental picture, having sufficient detail to address current climate forcing questions. The Progressive Aerosol Retrieval and Assimilation Global Observing Network (PARAGON) initiative would provide an organizational framework to meet this goal

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments

Mechanical Design and Analysis of a Discrete Variable Transmission System for Transmission-Based Actuators

Over the past few years, replacing the hydraulic servo actuators with their electrical counter parts for robotics and remote handling systems has been an active field of research. These systems are of particular interest for tasks involved with the US Department of Energy, where the level of radiation exposure is high and the tasks are highly repetitive. With the hydraulic servo actuators, one is concerned with the issues like the high complexity, cost of the system and the difficulty of maintenance of the system. For high payload operations, the hydraulic systems provide an order of magnitude increase in the power density, which is almost impossible to achieve using the electrical servo actuators. Hence, for the electrical servo actuators to be used for high payload operations, the fundamental issue concerning the power and torque density must be addressed. Previous research conducted on this front suggested the use of a variable speed transmission system to spread the servomotor’s torque-speed characteristics across a wider output speed range. This has the effect of allowing smaller high power motors to also deliver high torques at low speeds. By using a variable speed transmission, the motor size can be reduced dramatically while increasing the overall actuator power density in the process. This work goes further into the detailed design of the discrete variable transmission system. A three-stage planetary gear transmission system is considered for the analysis and design. With the use of the three-stage planetary gear transmission, there are a complex and varied design issues involved. Selecting a configuration for the transmission is the first question to be answered. With the given configuration, and the ratios required the individual gears have to be sized accordingly. Other design elements involve the design of the shafting, achieving the desired configuration, bearings, housing and the design of a gear shifting mechanism. A detailed kinematic and dynamic analysis of the entire gear system is required for the design of the various components mentioned above. Analytical results are presented along with a computer-aided analysis of the work using the Pro-Engineer design and analysis software. Future work on this will be to turn this into a commercially available system, which comes down to optimizing the current design. Possibilities of optimization for the current design will be identified. A discussion on the prototype evaluation of the transmission system along with a sample test result is presented

Technology for the Future: In-Space Technology Experiments Program, part 2

The purpose of the Office of Aeronautics and Space Technology (OAST) In-Space Technology Experiments Program In-STEP 1988 Workshop was to identify and prioritize technologies that are critical for future national space programs and require validation in the space environment, and review current NASA (In-Reach) and industry/ university (Out-Reach) experiments. A prioritized list of the critical technology needs was developed for the following eight disciplines: structures; environmental effects; power systems and thermal management; fluid management and propulsion systems; automation and robotics; sensors and information systems; in-space systems; and humans in space. This is part two of two parts and contains the critical technology presentations for the eight theme elements and a summary listing of critical space technology needs for each theme