Generalized compliant motion primitive

This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set

Dual-Arm Generalized Compliant Motion With Shared Control

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134)

Supervised autonomous control, shared control, and teleoperation for space servicing

A local-remote telerobot system for single- and dual-arm supervised autonomy, shared control, and teleoperation has been demonstrated. The system is composed of two distinct parts: the local site, where the operator resides; and the remote site, where the robots reside. The system could be further separated into dual local sites communicating with a common remote site. This is valuable for potential space missions where a space based robotic system may be controlled either by a space based operator or by a ground based operator. Also, multiple modes of control integrated into a common system are valuable for satisfying different servicing scenarios. The remote site single arm control system is described, and its parameterization for different supervised autonomous control, shared control, and teleoperation tasks are given. Experimental results are also given for selected tasks. The tasks include compliant grasping, orbital replacement unit changeout, bolt seating and turning, electronics card removal and insertion, and door opening

JPL space station telerobotic engineering prototype development: Advanced telerobotics system technology

The objective of the Advanced Telerobotics System Technology Task is to develop/prototype advanced telerobotics supervisory and shared control to enhance Intra-Vehicular Activity (IVA) teleoperation in the Space Station. The technology provides enhanced telerobotics capabilities while operating within the expected constraints of computation limitations, time delay, and bus bandwidth. A local site operator interface has also been developed for specifying teleoperation and shared control modes as well as supervised autonomous macros for execution at the remote site. The primary objective of the task is to transfer the advanced technology to appropriate flight centers to enhance the baseline Station capabilities

Telerobot control system

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context

Device Acquires and Retains Rock or Ice Samples

The Rock Baller is a sample acquisition tool that improves sample retention. The basic elements of the Rock Baller are the tool rotation axis, the hub, the two jaws, and the cutting blades, which are located on each of the jaws. The entire device rotates about the tool rotation axis, which is aligned parallel to the nominal normal direction of the parent rock surface. Both jaws also rotate about the jaw axis, which is perpendicular to the tool rotation axis, at a rate much slower than the rotation about the tool rotation axis. This movement gradually closes the jaws into a nearly continuous hemispherical shell that encloses the sample as it is cut from the parent rock. When required the jaws are opened to release the sample. The hemispherical cutting method eliminates the sample retention problems associated with existing sample acquisition methods that employ conventional cylindrical cutting. The resulting samples are hemispherical, or nearly hemispherical, and as a result the aspect ratio (sample depth relative to sample radius) is essentially fixed. This fixed sample aspect ratio may be considered a drawback of the Rock Baller method, as samples with a higher aspect ratio (more depth, less width) may be considered more scientifically valuable because such samples would allow for a broader inspection of the geological record. This aspect ratio issue can be ameliorated if the Rock Baller is paired with a device similar to the Rock Abrasion Tool (RAT) used on the Mars Exploration Rovers. The RAT could be used to first grind into the surface of the parent rock, after which the Rock Baller would extract a sample from a depth inside the rock that would not have been possible without first using the RAT. Other potential applications for this technology include medical applications such as the removal of tissue samples or tumors from the body, particularly during endoscopic, laparoscopic, or thoracoscopic surgeries

Scoring Dawg Core Breakoff and Retention Mechanism

This novel core break-off and retention mechanism consists of a scoring dawg controlled by a set of two tubes (a drill tube and an inner tube). The drill tube and the inner tube have longitudinal concentric holes. The solution can be implemented in an eccentric tube configuration as well where the tubes have eccentric longitudinal holes. The inner tube presents at the bottom two control surfaces for controlling the orientation of the scoring dawg. The drill tube presents a sunk-in profile on the inside of the wall for housing the scoring dawg. The inner tube rotation relative to the drill tube actively controls the orientation of the scoring dawg and hence its penetration and retrieval from the core. The scoring dawg presents a shaft, two axially spaced arms, and a tooth. The two arms slide on the control surfaces of the inner tube. The tooth, when rotated, can penetrate or be extracted from the core. During drilling, the two tubes move together maintaining the scoring dawg completely outside the core. After the desired drilling depth has been reached the inner tube is rotated relative to the drill tube such that the tooth of the scoring dawg moves toward the central axis. By rotating the drill tube, the scoring dawg can score the core and so reduce its cross sectional area. The scoring dawg can also act as a stress concentrator for breaking the core in torsion or tension. After breaking the core, the scoring dawg can act as a core retention mechanism. For scoring, it requires the core to be attached to the rock. If the core is broken, the dawg can be used as a retention mechanism. The scoring dawg requires a hard-tip insert like tungsten carbide for scoring hard rocks. The relative rotation of the two tubes can be controlled manually or by an additional actuator. In the implemented design solution the bit rotation for scoring was in the same direction as the drilling. The device was tested for limestone cores and basalt cores. The torque required for breaking the 10-mm diameter limestone cores was 5 to 5.8 lb-in. (0.56 to 0.66 N-m)

System for Packaging Planetary Samples for Return to Earth

A system is proposed for packaging material samples on a remote planet (especially Mars) in sealed sample tubes in preparation for later return to Earth. The sample tubes (Figure 1) would comprise (1) tubes initially having open tops and closed bottoms; (2) small, bellows-like collapsible bodies inside the tubes at their bottoms; and (3) plugs to be eventually used to close the tops of the tubes. The top inner surface of each tube would be coated with solder. The side of each plug, which would fit snugly into a tube, would feature a solder-filled ring groove. The system would include equipment for storing, manipulating, filling, and sealing the tubes. The containerization system (see Figure 2) will be organized in stations and will include: the storage station, the loading station, and the heating station. These stations can be structured in circular or linear pattern to minimize the manipulator complexity, allowing for compact design and mass efficiency. The manipulation of the sample tube between stations is done by a simple manipulator arm. The storage station contains the unloaded sample tubes and the plugs before sealing as well as the sealed sample tubes with samples after loading and sealing. The chambers at the storage station also allow for plug insertion into the sample tube. At the loading station the sample is poured or inserted into the sample tube and then the tube is topped off. At the heating station the plug is heated so the solder ring melts and seals the plug to the sample tube. The process is performed as follows: Each tube is filled or slightly overfilled with sample material and the excess sample material is wiped off the top. Then, the plug is inserted into the top section of the tube packing the sample material against the collapsible bellowslike body allowing the accommodation of the sample volume. The plug and the top of the tube are heated momentarily to melt the solder in order to seal the tube

Biblade Sampler

A BiBlade sampler may include a first blade and a second blade in a retracted position. The BiBlade sampler may also include a gripper, which is driven by an actuator. The gripper may include a plurality of fingers to force the first blade and the second blade to remain in a retracted position. When the fingers are unhooked, the first blade and the second blade penetrate a surface of an object

Comet Hitchhiker: NIAC Phase 1 Final Report

Summary of Activities-Developed the Comet Hitchhiker concept, which is to hitch rides on small bodies (asteroids and comets) using a tethered spacecraft. (Section 2)-Identified five scientifically important missions that would be enabled or significantly benefited by the Comet Hitchhiker concept.The five mission concepts are: KBO rendezvous, Centaur rendezvous, Trojan rendezvous, Damocloid rendezvous, and Main asteroid belt tour to rendezvous with multiple (10) objects. (Section 3)-Derived the Space Hitchhike Equation, or "the rocket equation for hitchhiker", which relates the specific strength of tether, mass ratio, and V. (Section 4.1)-Performed in-depth feasibility analysis of the critical components of the concept through: Finite-element simulations of tether and spacecraft dynamics, as shown in Figure 1 (Section 4.4); Supercomputer simulations of the hypervelocity impact of harpoon on a small body, as shown in Figure 2. (Section 6)-Performed public outreach activities including the collaboration with a concept artist of the Museum of Science Fiction, exposure to media, and public presentations. (Section 8