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Badger J.,NASA | Throop D.,Boeing Company | Claunch C.,Oceaneering Space Systems
2014 IEEE 22nd International Requirements Engineering Conference, RE 2014 - Proceedings | Year: 2014

Requirements are a part of every project life cycle; everything going forward in a project depends on them. The VARED tool chain aims to provide an integrated environment to analyze and verify the requirements and early design of a system. Natural language requirements are processed automatically into formal specifications using a state model of the system under design and its environment. The specifications are formally checked and then are used to verify the controller model meets the requirements. © 2014 IEEE.

Rea R.,Oceaneering Space Systems | Beck C.,Oceaneering Space Systems | Rovekamp R.,Oceaneering Space Systems | Diftler M.,NASA | Neuhaus P.,Florida Institute for Human and Machine Cognition
AIAA SPACE 2013 Conference and Exposition | Year: 2013

Bone density loss and muscle atrophy are among the National Aeronautics and Space Administration's (NASA) highest concerns for crew health in space. Countless hours are spent maintaining an exercise regimen aboard the International Space Station (ISS) to counteract the effect of zero-gravity. Looking toward the future, NASA researchers are developing new compact and innovative exercise technologies to maintain crew health as missions increase in length and take humans further out into the solar system. The X1 Exoskeleton, initially designed for assisted mobility on Earth, was quickly theorized to have far-reaching potential as both an in-space countermeasures device and a dynamometry device to measure muscle strength. This lower-extremity device has the ability to assist or resist human movement through the use of actuators positioned at the hips and knees. Multiple points of adjustment allow for a wide range of users, all the while maintaining correct joint alignment. This paper discusses how the X1 Exoskeleton may fit NASA's on-orbit countermeasures needs.

Abdallah M.E.,General Motors | Platt Jr. R.,NASA | Wampler C.W.,General Motors | Hargrave B.,Oceaneering Space Systems
2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 | Year: 2010

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2. ©2010 IEEE.

Hart S.,TRACLabs Inc | Dinh P.,Oceaneering Space Systems | Hambuchen K.,NASA
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2015

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications. © 2015 IEEE.

Cooper B.L.,Oceaneering Space Systems | McKay D.S.,NASA | Taylor L.A.,University of Tennessee at Knoxville | Kawamoto H.,Waseda University | And 2 more authors.
Proceedings of the 12th International Conference on Engineering, Science, Construction, and Operations in Challenging Environments - Earth and Space 2010 | Year: 2010

The Lunar Airborne Dust Toxicity Assessment Group (LADTAG) is working to determine the permissible limits for exposure to lunar dust. This standard will guide the design of airlocks and ports for EVA, as well as the requirements for filtering and monitoring the atmosphere in habitable vehicles and other modules. Rodent toxicity testing will be done using the respirable fraction of actual lunar soils (particles with physical size of less than 2.5 micrometers). We are currently separating this fine material from the coarser material that comprises >95% of the mass of each soil sample. Sieving is not practical in this size range, so a new system was developed for this task. Collection and separation efficiencies are tracked as development and tests proceed. LADTAG's recommendation for permissible exposure limits will be delivered to the Constellation Program in 2010. © 2010 ASCE.

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