Motion Control/​Automation

NASA has developed a Nanosatellite Launch Adapter System (NLAS) that maximizes the efficiency of satellite launch missions. NLAS increases access to space while simplifying the integration process of miniature satellites, called nanosats or CubeSats, onto launch vehicles. While a complete NLAS consists of an...

An automated control system for the microshutter assembly (MSA) portion of the JWST MSS (James Webb Space Telescope Micro shutters Subsystem) was developed. This is a cryogenic device that operates at 35 K. Cooling down and warming...

VERVE is a 3D visualization system that provides situational awareness, science analysis tools, and data understanding capabilities for robotics researchers and exploration science operations. VERVE includes telemetry views that show remote system status, and can be extended to support...

An optimal alarm system can robustly predict a level-crossing event that is specified over a fixed prediction horizon. The code contained in this package provides the tools necessary to design an optimal alarm system for a simple stationary linear dynamic system driven by white Gaussian noise.

One of the goals of the Mars Science Laboratory (MSL) mission is to collect powderized samples from the interior of rocks and deliver them to onboard science instruments. This goal is achieved using the algorithms and software that control the drill hardware to produce a system that...

The Morpheus simulation is a suite of software models that simulates the performance of a lander vehicle. The specific vehicle is a terrestrial lander used as a “vertical test bed” platform for developing technology, and proving hardware and software systems for use in space...

The greatest single source of risks for Mars rovers is terrain. These risks are currently managed by a labor-intensive process in which rover operators carefully examine the terrain and plan a path to avoid any potential hazards. This poses a challenge,...

Optical component fabrication using metals or ceramic materials involves many grinding and/or machining and polishing steps to achieve the proper form to the tolerances of imaging or photonic focusing instruments. These instruments range from infrared sensors, through visible and...

This innovation is a concept for a novel thermal architecture that would enable a day-long surface mission on Venus. A Venus lander mission could last much longer than a few hours on the surface of the planet by absorbing heat from the Venus environment, and from the electronics within the lander,...

Ongoing work in the development and characterization of sensory materials requires the development of shape memory alloy (SMA) powder or particles. These are embedded in structural material so that the progression of localized damage that occurs during fatigue crack growth will...

A method was developed for transfer of lunar soil into and out of process equipment. The Lunar Materials Handling System (LMHS) conveys solids to a process vessel, provides a gas-tight seal, prevents seal contamination, and minimizes wear from abrasive particles. The LMHS increases equipment life and minimizes...

It is necessary to track system state during robotic manipulation. System state is defined to be manipulator and environment configuration. Without tracking, the robot is ignorant of the outcomes of its actions. State tracking enables the robot to...

The dynamics in the vicinity of small bodies are highly nonlinear. Trajectory design in small-body environments requires accurate gravity and solar radiation pressure models to guarantee the satisfaction of spacecraft operational constraints such as...

The goal of this work was to develop algorithms and software to generate a path that takes into account the direction of waves and wind as much as possible in order to mitigate potential damage to an autonomous underwater vehicle. A risk-based path planning algorithm to analyze real-world...

Repetitive manual operations can degrade the work efficiency of a human operator over time, with the cumulative stresses of repetitive motion potentially affecting the resultant product quality and/or process efficiency. Accordingly, a lightweight, motorized device has been created that a user/operator may wear on a hand and...

AROMA uses a boundary-element formulation to calculate normal and shear pressure distributions and sub-surface stresses for elastic bodies in contact. In addition to handling static normal and sheer loading, it also solves the contact problem for rolling elements such as bearings, traction drives, and...

A high level of autonomy is desired for future unmanned combat systems because lethality and survivability can be improved with much less communication bandwidth than would be necessary for preprogrammed or remotely operated systems. However, there are a number of technical...

Human space systems, such as the International Space Station (ISS) and future planned missions to the lunar surface and beyond, require the crew’s ability to locate and manage the physical resources that are required for use to achieve mission objectives. However, the...