Precision Cleaning Robot

The project will purchase and use a commercial off the shelf (COTS) plasma system. The plasma system produces a small jet with a diameter between 8-10 mm. The rate at which the plasma can be moved to achieve cleaning will need to be determined via laboratory tests. The team will conduct a survey of COTS pipe cleaning/inspection robots and identify any systems that can be procured to accelerate the proof-of-concept development. Because of the precision nature for these cleaning operations, it is expected that significant development or modification of the mobility system and plasma jet positioner will be required. The team will identify inspection and cleanliness verification instruments relevant to KSC's ground systems. The deliverables for this project will be:\n\uf0b7 Procedure for cleaning grease and particles from surfaces using the COTS plasma system.\n\uf0b7 Specification for mobility platform for pipe cleaning.\n\uf0b7 Identification of complimentary inspection and cleaning verification tools.\nIf initial testing shows promise and future funds become available, the project team will work with Exploration Ground Systems stakeholders to identify a representative pipe cleaning task and develop a proof-of-concept system to demonstrate the automated plasma cleaning operation. Once the development of the proof-of-concept system is complete it will be evaluated. Pipes will be prepared to a known level of contamination and the robotic plasma system will be used to clean them. The cleanliness will then be evaluated using traditional techniques to determine the system's effectiveness.

The vast majority of precision cleaning at Kennedy Space Center utilizes either aqueous or solvent-based processes. While effective, these methods require expensive solvents, produce large waste streams, and have historically led to environmental contamination. Recently, researchers at KSC have demonstrated low pressure, capacitively coupled plasma (CCP) cleaning to be a viable cleaning option that does not use solvents. In this standard system, two electrodes are located outside of the reaction chamber one of which is connected to a radio-frequency power supply while the other is grounded. An electric field is generated between the electrodes that cause electrons in the process gas to separate from their nuclei, thereby producing plasma. However, in its current state, plasma-based precision cleaning suffers from two major drawbacks. First, because it is a low pressure process, the parts to be cleaned must fit within the vacuum chamber and second, cleaning efficiency decreases as the distance the plasma must diffuse into the part increases.\nThis project will address these limitations by incorporating plasma cleaning onto a robot so that the inside of pipes, tanks, and other complex surfaces can be cleaned. This project will address challenges related to the robotic control of an atmospheric cold plasma jet inside a pipe. The robotic delivery vehicle will need to include a compliant mobility system, provide precision plasma jet positioning, and monitor and map its progress within the pipe. In future stages, technology development will include miniaturizing plasma and robotic components, adding cleanliness verification and other inspection tools.

This is early/mid-stage (TRL 4) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

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