Robotic Assembly of Photovoltaic Arrays

This NASA Glenn innovation is a novel multi-junction photovoltaic cell constructed using selenium as a bonding material sandwiched between a thin film multi-junction wafer and a silicon substrate wafer, enabling higher efficiencies. A multi-junction photovoltaic cell differs from a single junction cell in that it has multiple sub-cells (p-n junctions) and can convert more of the sun's energy into electricity as the light passes through each layer. To further improve the efficiencies, this cell has three junctions, where the top wafer is made from high solar energy absorbing materials that form a two-junction cell made from the III-V semiconductor family, and the bottom substrate remains as a simple silicon wafer. The selenium interlayer is applied between the top and bottom wafers, then pressure annealed at 221°C (the melting temperature of selenium), then cooled. The selenium interlayer acts as a connective layer between the top cell that absorbs the short-wavelength light and the bottom silicon-based cell that absorbs the longer wavelengths. The three-junction solar cell manufactured using selenium as the transparent interlayer has a higher efficiency, converting more than twice the energy into electricity than traditional cells. To obtain even higher efficiencies of over 40%, both the top and bottom layers can be multi-junction solar cells with the selenium layer sandwiched in between. The resultant high performance multi-junction photovoltaic cell with the selenium interlayer provides more power per unit area while utilizing a low-cost silicon-based substrate. This unprecedented combination of increased efficiency and cost savings has considerable commercial potential. This is an early-stage technology requiring additional development. Glenn welcomes co-development opportunities.

This technology consists of a photoelectrochemical cell composed of thin metal oxide films. It uses sunlight (primarily the ultraviolet (UV), visible and Infrared (IR) portions)) and inexpensive titanium dioxide composites to perform the reaction. The device can be used to capture carbon dioxide produced in industrial processes before it is emitted to the atmosphere and convert it to a useful fuel such as methane. These devices can be deployed to the commercial market with low manufacturing and materials costs. They can be made extremely compact and efficient and used in sensor and detector applications.

Assemblers are a team of modular robots that work together to build things. Each Assembler is a stack of one or more Stewart platforms, or hexapods, made up of two plates connected by six linear actuators for movement, enabling a full six-degree-of-freedom (DOF) pose of the top plate relative to the bottom plate (see figure to the right). An end effector on each Assembler enables gripping, lifting, and welding/joining. The Assemblers system architecture features novel control algorithms and software, sensors, and communicator technology that coordinate operations of Assembler teams. The control system includes an important module for task management that estimates how many robots are needed, the optimal number of hexapods in each Assembler, and the estimated voltage needed. There are also modules for trajectory generation, joint control, sensor fusion, and fault detection. The novel control system directs the Assembler operations for high accuracy and precision, yet there is built-in dynamic resilience to failure. For example, if a single hexapod on an Assembler fails, the system deems it “rigid” in its last pose and redistributes the work to the other Assemblers. The image below shows a storyboard of operations for how Assemblers might build a solar array. NASA has developed a hardware demo with communications between subsystems, backed up by detailed simulations of the kinematics and actuator dynamics.

NASAs digital projection focusing schlieren system is attached to a commercial-off-the-shelf camera. For focusing schlieren measurements, it directs light from the light source through a condenser lens and linear polarizer towards a beam-splitter where linear, vertically-polarized component of light is reflected onto the optical axis of the instrument. The light passes through the patterned LCD element, a polarizing prism, and a quarter-wave plate prior to projection from the assembly as left- or right-circularly polarized light. The grid-patterned light (having passed through the LCD element) is directed past the density object onto a retroreflective background (RBG) that serves as the source grid. Upon reflection off the RBG, the polarization state of light is mirrored. It passes the density object a second time and is then reimaged by the system. Upon encountering the polarizing prism the second time, the light is slightly offset. This refracted light passes through the LCD element, now serving as the cutoff grid, for a second time before being imaged by the camera. The LCD element can be programmed to display a variety of grid patterns to enable sensitivity to different density gradients. the color properties of the LCD can be leveraged in combination with multiple colored light sources to enable simultaneous multi-color, multi-technique data collection.

The technology is a method to increase automation of Additive Manufacturing (AM) through augmentation of the Fused Filament Fabrication (FFF) process. It can significantly increase the speed of 3D printing by automating the removal of printed components from the build platform without the need for additional hardware, which increases printing throughput. The method can also be leveraged to perform automated object testing and characterization. The method includes embedding into the manufacturing instructions methods to fabricate directly onto the build platform an actuator tool, such as a linear spring. The deposition head can be leveraged as a robotic manipulator of the actuator tool to bend, cock, and release the linear spring to strike the target manufactured object and move it off the build platform of the machine they were manufactured on. The ability for an object to 'fly off of the machine that made it' essentially enables automated clearing of the processed build volume. The technology can also be used for testing the AM machine or the feedstock material by successively fabricating prototypes of the manufactured object, and taking measurements from sensors as the actuator strikes the prototype. This provides automated testing for quality control, machine calibration, material origins, and counterfeit detection.