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Robot Team Builds High-Performance Digital Structure for NASA


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A NASA researcher closely examines a small robot that bolts building blocks to a structure.
Research engineer Christine Gregg inspects a Mobile Metamaterial Internal Co-Integrator (MMIC-I) builder robot. These simple robots are part of a hardware and software system NASA researchers are developing to autonomously build and maintain high-performance large space structures comprised of building blocks. MMIC-I works by climbing though the interior space of building blocks and bolting them to the rest of the structure during a build or unbolting during disassembly.
NASA/Dominic Hart

If they build it, we will go – for the long-term.

Future long-duration and deep-space exploration missions to the Moon, Mars, and beyond will require a way to build large-scale infrastructure, such as solar power stations, communications towers, and habitats for crew. To sustain a long-term presence in deep space, NASA needs the capability to construct and maintain these systems in place, rather than sending large pre-assembled hardware from Earth. 

NASA’s Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) team is developing a hardware and software system to meet that need. The system uses different types of inchworm-like robots that can assemble, repair, and reconfigure structural materials for a variety of large-scale hardware systems in space. The robots can do their jobs in orbit, on the lunar surface, or on other planets – even before humans arrive.

Researchers at NASA’s Ames Research Center in California’s Silicon Valley recently performed a laboratory demonstration of the ARMADAS technology and analyzed the system’s performance. During the tests, three robots worked autonomously as a team to build a meters-scale shelter structure – roughly the size of a shed – using hundreds of building blocks.  The team published their results today in Science Robotics.

Two NASA researchers watch small robots assembling building blocks into a structure in a laboratory.
Research engineer Taiwo Olatunde, left, and intern Megan Ochalek, right, observe as robots move and assemble composite building blocks into a structure. The robots worked on their own to complete the structure in a little over 100 hours of operations. To facilitate the team’s watchful monitoring of the robots’ performance, the demonstration was split over several weeks of regular working hours.
NASA/Dominic Hart

“The ground assembly experiment demonstrated crucial parts of the system: the scalability and reliability of the robots, and the performance of structures they build. This type of test is key for maturing the technology for space applications,” said Christine Gregg, ARMADAS chief engineer at NASA Ames.  

The high strength, stiffness, and low mass of the structural product is comparable to today’s highest-performance structures, like long bridges, aircraft wings, and space structures – such as the International Space Station’s trusses. Such performance is a giant leap for the field of robotically reconfigurable structures. 

A small robot, holds a building block that is roughly ball-shaped but has flat faces. The robot stands atop a structure built of these building blocks.
A Scaling Omnidirectional Lattice Locomoting Explorer (SOLL-E) builder robot carries a soccer ball-sized building block called a voxel – short for volumetric pixel – during a demonstration of NASA’s Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) technology at NASA’s Ames Research Center in Silicon Valley. The voxels are made of strong and lightweight composite materials formed into a shape called a cuboctahedron.
NASA/Dominic Hart

Programmable, Reconfigurable Structures

“‘Mission adaptive’ capabilities allow a system to be reused for multiple purposes, including ones that adopt hardware from completed activities, decreasing the cost of new missions,” said Kenny Cheung, ARMADAS principal investigator at NASA Ames. “‘Digital assembly systems’ refers to the use of discrete building blocks, as a physical analog to the digital systems that we use today.” 

Many people use digital systems to view photos or text on a display, like a smartphone screen. A digital image uses a small set of pixel types to form almost any image on a high-resolution display. You can think of pixels as building blocks for 2D space. The ARMADAS system can use a small set of 3D building blocks – called voxels, short for volumetric pixels – to form almost any structure. Just like digital images, the ARMADAS system is ‘programmable,’ meaning that it can self-reconfigure to meet evolving needs, with the help of the robots. 

The voxels used in the demonstration were made of strong and lightweight composite materials formed into a shape called a cuboctahedron. The voxels resemble a wire-frame soccer ball with flat faces and highly precise geometry. 

“It’s surprising how strong and stiff these systems are, given how they look,” said Cheung. “Making large structures from small building blocks allows us to use good materials at the lowest cost. The size of the structures that can be made is only limited by the number of building blocks that can be supplied.”

This kind of scalability is revolutionary in comparison to current methods of fabricating spacecraft in factories, or even 3D printing.

acd22-0057-086.jpg?w=2048
A Scaling Omnidirectional Lattice Locomoting Explorer (SOLL-E) builder robot carries a small building block called a voxel – short for volumetric pixel – as it maneuvers, stepping inchworm-style, along the exterior of a mechanical metamaterial structure, foreground, while a SOLL-E and a Mobile Metamaterial Internal Co-Integrator (MMIC-I) fastening robot attach a voxel to the structure, background. The highly predictable nature of the structure built by the robots allows them to build very precise structures that are much larger than themselves, unlike typical factory produced products.
NASA/Dominic Hart

A Reliable System Relies on Building Blocks

Building blocks are also key to the robotic system autonomy and reliability. 

“Generally, it’s very hard to develop robust autonomous robots that can operate in unstructured environments, like a typical construction site. We turn that problem on its head by making very simple and reliable robots that operate in an extremely structured lattice environment,” said Gregg.  

For the demonstration, the ARMADAS team provided plans for the structure, but they didn’t micromanage the robots’ work. Software algorithms did the job of planning the robots’ tasks. The system practiced the build sequence in simulation before the actual run started. 

While in operation, two robots – stepping inchworm style – walked on the exterior of the structure, moving one soccer ball-sized voxel at a time. One robot fetched the voxels from a supply station and passed them to the second robot that, in turn, placed each voxel on its target location. 

A third robot followed these placements, climbing though the interior space of the voxels and bolting each new voxel to the rest of the structure. 

Time-lapse showing robots, working autonomously as a team, to assemble a meters-scale shelter structure using hundreds of building blocks during a technology demonstration at NASA’s Ames Research Center in Silicon Valley. Credits: NASA

“Because the robots align each small step to the structure in what is essentially a 3D grid, simple algorithms with low computation and sensing requirements can achieve high-level autonomy goals. The system builds and error-corrects on its own with no machine vision or external means of measurement,” said Gregg. 

Future work will expand the library of voxel types that the robots work with, to include solar panels, electrical connections, shielding, and more. Each new module type will dramatically expand the possible applications because the robots can mix and match them to meet specific needs and locations. The ARMADAS team is also working on new robot capabilities, such as inspection tools, to ensure that autonomously constructed facilities are safe and sound before astronauts arrive. 

ARMADAS’ technology approach increases what we can do with equipment sent for most deep space exploration missions, and how long we can use them. When a mission completes, robots can disassemble space structures, repurpose the building blocks, and construct designs of the future.

For news media:

Members of the news media interested in covering this topic should reach out to the NASA Ames newsroom.

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      A Fully Reimagined Visitor Center 

      The NASA Ames Visitor Center includes exhibits and activities, sharing the work of NASA in Silicon Valley with the public.Image credit: NASA Ames/Don RIchey The NASA Ames Visitor Center at Chabot Space & Science Center in Oakland, California includes a fully reimagined 360-degree experience, featuring new exhibits, models, and more. An interactive exhibit puts visitors in the shoes of a NASA Ames scientist, designing and testing rovers, planes, and robots for space exploration. 

      Ames Collaborations in the Community

      Former NASA astronauts Yvonne Cagle and Kenneth Cockrell pose with Eli Toribio and Rhydian Daniels at the University of California, San Francisco Bakar Cancer Hospital. Patients gathered to meet the astronauts and learn more about human spaceflight and NASA’s cancer research effortsImage credit: NASA Ames/Brandon Torres Navarrete NASA astronauts, scientists, and researchers, and leadership from the University of California, San Francisco (UCSF) met with cancer patients and gathered in a discussion about potential research opportunities and collaborations as part of President Biden and First Lady Jill Biden’s Cancer Moonshot initiative on Oct. 4. During the visit with patients, NASA astronaut Yvonne Cagle and former astronaut Kenneth Cockrell answered questions about spaceflight and life in space. 
      Ames and the University of California, Berkeley, expanded their partnership, organizing workshops to exchange on their areas of technical expertise, including in Advanced Air Mobility, and to develop ideas for the Berkeley Space Center, an innovation hub proposed for development at Ames’ NASA Research Park. Under a new agreement, NASA also will host supercomputing resources for UC Berkeley, supporting the development of novel computing algorithms and software for a wide variety of scientific and technology areas.

      NASA’s Ames Research Center Celebrates 85 Years of Innovation
      by Rachel Hoover
      Ames Research Center in California’s Silicon Valley pre-dates a lot of things. The center existed before NASA – the very space and aeronautics agency it’s a critical part of today. And of all the marvelous advancements in science and technology that have fundamentally changed our lives over the last 85 years since its founding, one aspect has remained steadfast; an enduring commitment to what’s known by some on-center simply as, “an atmosphere of freedom.” 
      The NACA Ames laboratory in 1944.Image credit: NASA Years before breaking ground at the site that would one day become home to the world’s preeminent wind tunnels, supercomputers, simulators, and brightest minds solving some of the world’s toughest challenges, Joseph Sweetman Ames, the center’s namesake, described a sentiment that would guide decades of innovation and research: 
      “My hope is that you have learned or are learning a love of freedom of thought and are convinced that life is worthwhile only in such an atmosphere,” he said in an address to the graduates of Johns Hopkins University in June 1935.
      That spirit and the people it attracted and retained are a crucial part of how Ames, along with other N.A.C.A. research centers, ultimately made technological breakthroughs that enabled humanity’s first steps on the Moon, the safe return of spacecraft through Earth’s atmosphere, and many other discoveries that benefit our day-to-day lives.
      Russell Robinson momentarily looks to the camera while supervising the first excavation at what would become Ames Research Center.Image credit: NACA “In the context of my work, an atmosphere of freedom means the freedom to pursue high-risk, high-reward, innovative ideas that may take time to fully develop and — most importantly — the opportunity to put them into practice for the benefit of all,” said Edward Balaban, a researcher at Ames specializing in artificial intelligence, robotics, and advanced mission concepts.
      Balaban’s career at Ames has involved a variety of projects at different stages of development – from early concept to flight-ready – including experimenting with different ways to create super-sized space telescopes in space and using artificial intelligence to help guide the path a rover might take to maximize off-world science results. Like many Ames researchers over the years, Balaban shared that his experience has involved deep collaborations across science and engineering disciplines with colleagues all over the center, as well as commercial and academic partners in Silicon Valley where Ames is nestled and beyond. This is a tradition that runs deep at Ames and has helped lead to entirely new fields of study and seeded many companies and spinoffs.
      Before NASA, Before Silicon Valley: The 1939 Founding of Ames Aeronautical Laboratory “In the fields of aeronautics and space exploration the cost of entry can be quite high. For commercial enterprises and universities pursuing longer term ideas and putting them into practice often means partnering up with an organization such as NASA that has the scale and multi-disciplinary expertise to mature these ideas for real-world applications,” added Balaban.
      “Certainly, the topics of inquiry, the academic freedom, and the benefit to the public good are what has kept me at Ames,” reflected Ross Beyer, a planetary scientist with the SETI Institute at Ames. “There’s not a lot of commercial incentive to study other planets, for example, but maybe there will be soon. In the meantime, only with government funding and agencies like NASA can we develop missions to explore the unknown in order to make important fundamental science discoveries and broadly share them.”
      For Beyer, his boundary-breaking moment came when he searched – and found – software engineers at Ames capable and passionate about open-source software to generate accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. He and other teams of NASA scientists have since applied that software to study and better understand everything from changes in snow and ice characteristics on Earth, as well as features like craters, mountains, and caves on Mars or the Moon. This capability is part of the Artemis campaign, through which NASA will establish a long-term presence at the Moon for scientific exploration with commercial and international partners. The mission is to learn how to live and work away from home, promote the peaceful use of space, and prepare for future human exploration of Mars. 
      “As NASA and private companies send missions to the Moon, they need to plan landing sites and understand the local environment, and our software is freely available for anyone to use,” Beyer said. “Years ago, our management could easily have said ‘No, let’s keep this software to ourselves; it gives us a competitive advantage.’ They didn’t, and I believe that NASA writ large allows you to work on things and share those things and not hold them back.” 
      When looking forward to what the next 85 years might bring, researchers shared a belief that advancements in technology and opportunities to innovate are as expansive as space itself, but like all living things, they need a healthy atmosphere to thrive. Balaban offered, “This freedom to innovate is precious and cannot be taken for granted. It can easily fall victim if left unprotected. It is absolutely critical to retain it going forward, to ensure our nation’s continuing vitality and the strength of the other freedoms we enjoy.”

      Ames Aeronautical Laboratory.Image credit: NACA Today Marks the Retirement of the Astrogram Newsletter
      by Astrid Albaugh
      For 66 years, the Astrogram has told the story of NASA’s Ames Research Center. Over those six-plus decades, the newsletter has documented hundreds of missions led by Ames, the progression of Hangar One’s reclamation, space shuttle launches with Ames’ payloads aboard them, countless VIP visits, and everything in between.
      Ames published the first edition of the Astrogram in October 1958, coinciding with the transition of the center from its original incarnation as the National Advisory Committee for Aeronautics Ames Aeronautical Laboratory to a National Aeronautics and Space Administration (NASA) research center.
      The newsletter has evolved over time, alongside the center. From October 1958 through January 2016, the Astrogram was published in print, before a digital edition was developed. In January 2016, the Astrogram transitioned to a digital-only format. Below are examples of some of the Astrogram issues from over the years. More are forthcoming from 1998 and prior once they are retrieved from the archives.
      October 2014 Astrogram September 2010 Astrogram I have served as the editor of the Astrogram since February 1998. Over the past quarter century, it has been an interesting, and sometimes quite challenging, task for me to capture the breadth and depth of Ames’s story and ensure that we always published the newsletter on time. I still remember trekking over to the center’s imaging office to review the physical negatives and images that the Ames photographers had taken of events onsite and select the most compelling photos. I used a very early version of visual design software to craft the layout. When the paper was completed, I’d file it onto a CD and then hand it to the courier who would drive from the San Francisco printshop to pick it up from me. Once and awhile, someone would request to have an additional feature added, requiring multiple trips up the 101 and back. Sometimes I’d come in on the weekends to work on the paper, due to late submissions, much to the chagrin of my kids.
      July 2007 Astrogram It has been a pleasure serving as the editor over the past quarter century, almost as many years as my kids are old. A person once asked me if I had changed my name to Astrid since it’s so like the word Astrogram. Any relationship between the newsletter and my name is simply serendipity. I have enjoyed being behind the scenes, mostly working diligently at my computer. Many at Ames know my name because of the newsletter but may have never met me in person. It’s been amusing sometimes when I encounter someone who can’t put a finger as to why they knew my name but didn’t recognize me standing in front of them. Their usual response when they realized why they know me was, “Ah, Astrid of the Astrogram.”
      March 20, 1998 Astrogram Just as NASA innovates, the content of the Astrogram has to innovate as well. Many of the stories that you used to read in the Astrogram, you can now find on our NASA Ames web page here. If you would like to access past, archived issues of the Astrogram, going back to 1958, please consult the Ames Research Center Archives. I will continue to help tell Ames’s story, just using new platforms.
      Whether this is your first issue or you have been an Astrogram supporter for decades, thank you for reading!
      – Astrid of the Astrogram officially signing off


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    • By NASA
      4 min read
      Preparations for Next Moonwalk Simulations Underway (and Underwater)
      A crane lowers the steel reflector framework for Deep Space Station 23 into position Dec. 18 on a 65-foot-high (20-meter) platform above the antenna’s pedestal that will steer the reflector. Panels will be affixed to the structure create a curved surface to collect radio frequency signals.NASA/JPL-Caltech After the steel framework of the Deep Space Station 23 reflector dish was lowered into place on Dec. 18, a crew installed the quadripod, a four-legged support structure that will direct radio frequency signals from deep space that bounce off the main reflector into the antenna’s receiver.NASA/JPL-Caltech Deep Space Station 23’s 133-ton reflector dish was recently installed, marking a key step in strengthening NASA’s Deep Space Network.
      NASA’s Deep Space Network, an array of giant radio antennas, allows agency missions to track, send commands to, and receive scientific data from spacecraft venturing to the Moon and beyond. NASA is adding a new antenna, bringing the total to 15, to support increased demand for the world’s largest and most sensitive radio frequency telecommunication system.
      Installation of the latest antenna took place on Dec. 18, when teams at NASA’s Goldstone Deep Space Communications Complex near Barstow, California, installed the metal reflector framework for Deep Space Station 23, a multifrequency beam-waveguide antenna. When operational in 2026, Deep Space Station 23 will receive transmissions from missions such as Perseverance, Psyche, Europa Clipper, Voyager 1, and a growing fleet of future human and robotic spacecraft in deep space.
      “This addition to the Deep Space Network represents a crucial communication upgrade for the agency,” said Kevin Coggins, deputy associate administrator of NASA’s SCaN (Space Communications and Navigation) program. “The communications infrastructure has been in continuous operation since its creation in 1963, and with this upgrade we are ensuring NASA is ready to support the growing number of missions exploring the Moon, Mars, and beyond.”
      This time-lapse video shows the entire day of construction activities for the Deep Space Station 23 antenna at the NASA Deep Space Network’s Goldstone Space Communications Complex near Barstow, California, on Dec. 18. NASA/JPL-Caltech Construction of the new antenna has been under way for more than four years, and during the installation, teams used a crawler crane to lower the 133-ton metal skeleton of the 112-foot-wide (34-meter-wide) parabolic reflector before it was bolted to a 65-foot-high (20-meter-high) alidade, a platform above the antenna’s pedestal that will steer the reflector during operations.
      “One of the biggest challenges facing us during the lift was to ensure that 40 bolt-holes were perfectly aligned between the structure and alidade,” said Germaine Aziz, systems engineer, Deep Space Network Aperture Enhancement Program of NASA’s Jet Propulsion Laboratory in Southern California. “This required a meticulous emphasis on alignment prior to the lift to guarantee everything went smoothly on the day.”
      Following the main lift, engineers carried out a lighter lift to place a quadripod, a four-legged support structure weighing 16 1/2 tons, onto the center of the upward-facing reflector. The quadripod features a curved subreflector that will direct radio frequency signals from deep space that bounce off the main reflector into the antenna’s pedestal, where the antenna’s receivers are housed.
      In the early morning of Dec. 18, a crane looms over the 112-foot-wide (34-meter-wide) steel framework for Deep Space Station 23 reflector dish, which will soon be lowered into position on the antenna’s base structure.NASA/JPL-Caltech Engineers will now work to fit panels onto the steel skeleton to create a curved surface to reflect radio frequency signals. Once complete, Deep Space Station 23 will be the fifth of six new beam-waveguide antennas to join the network, following Deep Space Station 53, which was added at the Deep Space Network’s Madrid complex in 2022.
      “With the Deep Space Network, we are able to explore the Martian landscape with our rovers, see the James Webb Space Telescope’s stunning cosmic observations, and so much more,” said Laurie Leshin, director of JPL. “The network enables over 40 deep space missions, including the farthest human-made objects in the universe, Voyager 1 and 2. With upgrades like these, the network will continue to support humanity’s exploration of our solar system and beyond, enabling groundbreaking science and discovery far into the future.”
      NASA’s Deep Space Network is managed by JPL, with the oversight of NASA’s SCaN Program. More than 100 NASA and non-NASA missions rely on the Deep Space Network and Near Space Network, including supporting astronauts aboard the International Space Station and future Artemis missions, monitoring Earth’s weather and the effects of climate change, supporting lunar exploration, and uncovering the solar system and beyond. 
      For more information about the Deep Space Network, visit:
      https://www.nasa.gov/communicating-with-missions/dsn
      News Media Contact
      Ian J. O’Neill
      Jet Propulsion Laboratory, Pasadena, Calif.
      818-354-2649
      ian.j.oneill@jpl.nasa.gov
      2024-179
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      Last Updated Dec 20, 2024 Related Terms
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