Software Design for Automated Assembly of Truss Structures PDF Download
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Author:
Publisher:
ISBN:
Category : Building
Languages : en
Pages : 52
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Book Description
Author:
Publisher:
ISBN:
Category : Building
Languages : en
Pages : 52
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Book Description
Author: National Aeronautics and Space Adm Nasa
Publisher: Independently Published
ISBN: 9781729266144
Category : Science
Languages : en
Pages : 46
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Book Description
Concern over the limited intravehicular activity time has increased the interest in performing in-space assembly and construction operations with automated robotic systems. A technique being considered at LaRC is a supervised-autonomy approach, which can be monitored by an Earth-based supervisor that intervenes only when the automated system encounters a problem. A test-bed to support evaluation of the hardware and software requirements for supervised-autonomy assembly methods was developed. This report describes the design of the software system necessary to support the assembly process. The software is hierarchical and supports both automated assembly operations and supervisor error-recovery procedures, including the capability to pause and reverse any operation. The software design serves as a model for the development of software for more sophisticated automated systems and as a test-bed for evaluation of new concepts and hardware components. Herstrom, Catherine L. and Grantham, Carolyn and Allen, Cheryl L. and Doggett, William R. and Will, Ralph W. Langley Research Center RTOP 506-43-41-02
Author: Catherine L. Herstrom
Publisher:
ISBN:
Category :
Languages : en
Pages : 52
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Book Description
Author: Cheryl L. Allen
Publisher:
ISBN:
Category : Expert systems (Computer science)
Languages : en
Pages : 28
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Book Description
Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722069087
Category :
Languages : en
Pages : 24
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Book Description
Langley Research Center developed a unique test bed for investigating the practical problems associated with the assembly of large space truss structures using robotic manipulators. The test bed is the result of an interdisciplinary effort that encompasses the full spectrum of assembly problems - from the design of mechanisms to the development of software. The automated structures assembly test bed and its operation are described, the expert system executive and its development are detailed, and the planned system evolution is discussed. Emphasis is on the expert system implementation of the program executive. The executive program must direct and reliably perform complex assembly tasks with the flexibility to recover from realistic system errors. The employment of an expert system permits information that pertains to the operation of the system to be encapsulated concisely within a knowledge base. This consolidation substantially reduced code, increased flexibility, eased software upgrades, and realized a savings in software maintenance costs. Allen, Cheryl L. Langley Research Center RTOP 586-02-11...
Author:
Publisher:
ISBN:
Category : Astronautics
Languages : en
Pages : 132
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Book Description
Author: William R. Doggett
Publisher:
ISBN:
Category : Robot vision
Languages : en
Pages : 24
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 1148
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 134
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Book Description
Author: Alan A. Desrochers
Publisher: Springer Science & Business Media
ISBN: 1461536340
Category : Technology & Engineering
Languages : en
Pages : 361
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Book Description
Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In this environment, intelligent automation and robotics are essential complements to the capabilities of humans. In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Future missions will require the construction, maintenance, and repair of large structures, such as the space station. This volume presents the effords of several groups that are working on robotic solutions to this problem. Much of the work in this book is related to assembly in space, and especially in-orbit assembly of large truss structures. Many of these so-called truss structures will be assembled in orbit. It is expected that robot manipulators will be used exclusively, or at least provide partial assistance to humans. Intelligent Robotic Systems for Space Exploration provides detailed algorithms and analysis for assembly of truss structure in space. It reports on actual implementations to date done at NASA's Langley Research Center. The Johnson Space Center, and the Jet Propulsion Laboratory. Other implementations and research done at Rensselaer are also reported. Analysis of robot control problems that are unique to a zero-gravity environment are presented.
