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“ In the most general terms, the Materials Processing System reduces variety in the local environment by absorbing unknown or chaotic resources and producing numerous output streams of well characterized industrial materials. Variety reduction is accomplished by definite and finite sequences of analytic operations. The analysis task, though large, is finite. The next step, manufacturing, involves the production of possibly an infinite number of forms, hence will likely require different mathematical and computational approaches. ”

“ Robotic intelligence must be vastly increased if these devices are largely to supplant human workers in space. This may be accomplished by deploying a versatile intelligent multipurpose robot or by developing a number of specialized, fixed-action-pattern machines. Multipurpose intelligent robots lie well beyond state-of-the-art robotics technology, yet they still are an important ultimate goal. In the interim, sophisticated fixed-action-pattern robots suitable for restricted task scenarios should be developed. ”

“ Advanced functions and recommendations The needs of space manufacturing for automated product modification repair, adjustment and improvement, as well as robot adaptation to emergencies and self-replication, depend in large part on the capabilities of future automata control system and the environment in which they are applied. The hazards of space to human beings are well known, whereas the impact on robot systems is less well understood. ”

“ Space manufacturing efforts will draw heavily on teleoperation at first, gradually evolving over many decades towards the extensive use of autonomous robots. Additional research in teleoperation is needed immediately on sensors - tactile, force, and visual, and on sensor and master-slave range scaling. Robotics requirements include improvements in decisionmaking and modeling capabilities, sensors and sensor scaling, mobility, adaptability to hazardous conditions and teleoperator safety (Schraft et at, 1980) , natural language comprehension, and pattern recognition. ”

“ Computer-vision technology needs to be merged with discoveries from biological studies. Automatic gain control, gray-scale imaging, and feature detection must be included in computer-vision technology if robot autonomy is the goal. Parallel computer-control systems will ensure the speed of reaction and self-preservation "instincts" required for truly autonomous robots, but will require a decrease in existing computer memories both in size and access time by several orders of magnitude. ”

“ Solar energy powers the systems which gather nonterrestrial materials for conversion into refined materials products. These "products" can be additional power systems, materials gathering/processing/ manufacturing systems, or simply support for other human and machine systems in space. ”

“ What principles of overall management must the system obey to ensure survival and growth? What are the fundamental ultimate limits to the ability of self-regenerative systems to convert "as found" resources into industrial feedstock? Are there any essential elements which limit growth by virtue of their limited natural abundance? How can an understanding of physical principles be incorporated into the overall management system to direct operations? Generalized manufacturing. Figure 4.23 illustrates the generalized manufacturing process. ”

“ To realize the full potential of space manufacturing, a variety of technological development programs should be initiated in the near future. It is strongly recommended that NASA focus research attention on improvements in teleoperation and robotics, automated manufacturing techniques, and advanced materials processing. ”

“ The scientific and engineering communities continually strive, in a somewhat uncoordinated manner, to develop new comprehensive physical theories and then apply them to the creation of new material systems. ”

“ The efficiency and power of weapons-grade tunable lasers now under development by Department of Defense contractors (Robinson and Klass, 1980) already are high enough to fulfill most cutting and sintering needs of the SMF. Heat dissipation is a substantial problem inherent in laser utilization for space manufacturing. Space-qualified heat exchangers must be developed for laser-beam machining to achieve its full potential as a viable macromachining space technology. In addition, industrial lasers must be designed to re-use the working gases. ”

“ Seek the transforms which can be employed at any stage of development to create higher orders of matter patterns. Human thoughts and conversations typically are conducted using "object"- and "action"-based words learned during childhood. ”

“ Limits on control requirements also have been considered by Yushchenko (1980) , who has written algorithms for semiautomatic robot operations. Since semiautomatic robots undoubtedly v/ill precede fully automatic robots into space, the three major techniques of direct human master control - velocity, force, or position - must be considered. Velocity methods are rapid but manipulator motions are imprecise. Force methods control manipulators through human feedback in Yushchenko's study, but these techniques provide little regulation of acceleration during object motion. ”

“ The mass of teleoperator appendages is high compared to the weight they can lift. With better visual and tactile feedback, the heavy, rigid manipulator arms could be replaced by lightweight, compliant, yet strong arms. To accomplish this, the low-resolution, low-stability, low-dynamic-range force reflection tactile systems must be replaced with servofeedback systems including suitable touch display modules. Viewing systems will require additional research and development - the most advanced system currently available is a monocular head-aimed television. ”

“ Three technical areas in particular will require major developmental efforts: manufacturing technologies, materials processing, and space deployment. Many of the technology drivers and required advancements discussed previously are currently the subject of some R&D activity at various industrial and government research facilities. The first and perhaps most crucial step in any technology drive to make the SMF a reality is a thorough synthesis and coordination of current and previous research. ”

“ The management unit directs the entire enterprise in response to internal and external opportunities and restrictions. Development of new products requires participation of the entire system, whereas manufacture of repetitive output focuses on providing smooth production flows through units 4-8 guided by management. ”

“ A determined effort must then be made to augment technical competence as required to sustain a successful space manufacturing venture.
Manufacturing technologies. The control system for an automated manufacturing facility must be sophisticated, fault tolerant, and adaptive. Technological advances required for a factory control system are primarily software developments. ”

“ Lasers are helpful in facilitating annealing and oxidation processes and in trimming fine-tolerance capacitors and resistors. Electron beams have applications in silicon crystal purification and deposition of metals, though lasers also may be employed. Other uses for each beam type are readily imaginable. High-resolution automated control technologies must be developed for implantation, annealing, etching, and trimming processes in particular. ”

“ Limitations also arise by virtue of the space environment itself, whether in LEO, on the lunar surface, or on asteroids. Hard vacuum demands redesign of robot joints and manipulator end-effectors to minimize undesired cold welding if de-poisoning of metal surfaces occurs. ”