Kalind Carpenter

Design of supernumerary robotic limbs for the augmentation of astronauts performing partial-gravity extra-vehicular activities (EVAs)

Erik Ballesteros, Justin M. Jenkins, Kalind Carpenter, H. Harry Asada

This article presents a methodology for the design of a pair of wearable robotic appendages, known as Supernumerary Robotic Limbs, or SuperLimbs for short. Specifically, we aim to design SuperLimbs for assisting astronauts while they perform partial-gravity Extra-Vehicular Activities (EVAs) on the …

us (code pays fourni par la source)

PILLARS: Plume-Deployed Inflatable for Launch and Landing Abrasive Regolith Shielding

Lily Coffin, Armando Torres, Stephanie Wallen, Pia Calub et autres

NASA’s Artemis missions plan for a long-term lunar habitat and thriving economy through a continuous human presence. The supporting infrastructure, however, is at risk of failure due to the surrounding lunar environment. Hazardous lunar regolith dust ejecta generated by rocket landing and …

us (code pays fourni par la source)

Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent

Rob Royce, Marcel Kaufmann, Jonathan Becktor, Sangwoo Moon et autres

The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System Agent), an AI-powered agent that bridges the gap between the Robot Operating System …

us (code pays fourni par la source)

Launchable Lunar Anchors

Kalind Carpenter, Saptarshi Bandyopadhyay, Hannah S. Stuart, Ashish Goel et autres

The Moon presents unique challenges, posing difficulties for constructing reliable structure quickly and minimizing the chances of failure. As such, robust and reliable anchoring systems are necessary to secure cables in the loose lunar regolith, accommodating tensile forces. The primary utility of …

us (code pays fourni par la source)

Supernumerary Robotic Limbs to Augment Astronauts Performing Post-Fall Recoveries During Partial-Gravity Spacewalks

Erik Ballesteros, Kalind Carpenter, H. Harry Asada

This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity Extra-Vehicular Activities (EVAs). SuperLimbs can directly address a key technology gap identified by NASA concerning that of incapacitated crew …

us (code pays fourni par la source)

Design, Prototype, and Performance Assessment of an Autonomous Manipulation System for Mars Sample Recovery Helicopter

Arash Kalantari, Alex Brinkman, Kalind Carpenter, Matthew Gildner et autres

This paper presents the design, prototype, and testing of a 150 g (current best estimate) manipulation system that enables Mars Sample Recovery Helicopter (SRH) concept to autonomously pickup, stow, and drop-off Returnable Sample Tube and Glove Assemblies (RGAs) on the surface of …

us (code pays fourni par la source)

Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent

Rob Royce, Marcel Kaufmann, Jonathan Becktor, Sangwoo Moon et autres

The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System Agent), an AI-powered agent that bridges the gap between the Robot Operating System …

Supernumerary Robotic Limbs to Support Post-Fall Recoveries for Astronauts

Erik Ballesteros, S W Lee, Kalind Carpenter, H. Harry Asada

This paper proposes the utilization of Supernumerary Robotic Limbs (SuperLimbs) for augmenting astronauts during an Extra-Vehicular Activity (EVA) in a partial-gravity environment. We investigate the effectiveness of SuperLimbs in assisting astronauts to their feet following a fall. Based on preliminary observations from …

us (code pays fourni par la source)

Numerical Simulation and Influence of Non-Gaussian Vibrations on Flexible Robotic Systems

John Elderkin Bell, Laura Redmond, Kalind Carpenter, Jean-Pierre de la Croix

Random vibration excitation is a standard method for obtaining the dynamic properties of aerospace structures and simulating loading conditions. Shaker-based random excitation and traditional finite element analysis techniques use random vibrations, assuming a Gaussian distribution of excitation impulse magnitudes. While Gaussian signals …

us (code pays fourni par la source)

Miniaturized bulk metallic glass gripping structures for robotic mobility platforms

Punnathat Bordeenithikasem, Kalind Carpenter, Douglas C. Hofmann, Victor E. White et autres

us, de (code pays fourni par la source)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

Tiago Vaquero, Guglielmo Daddi, Rohan Thakker, Michael Paton et autres

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the …

us, it (code pays fourni par la source)

Finite Element Modeling of Rigid-Flex Printed-Circuit-Board Origami Robotics Subjected to Large-Scale Deformations

John Elderkin Bell, Laura Redmond, Kalind Carpenter, Jean-Pierre de la Croix

Rigid-flex printed circuit board (PCB) robotics have been investigated for exploring planetary terrain currently inaccessible to traditional aluminum body rovers. To push the technology to flight readiness, there must be rigorous methodologies for modeling these structures. This paper presents a modeling methodology …

us (code pays fourni par la source)