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Wegerif, Dan

Publications and source records attributed to Wegerif, Dan.

Development of Columbia Leading Edge Reconstruction System

After the loss of Columbia in 2003, the Columbia Accident Investigation Board and NASA KSC directed personnel at the Launch Equipment Test Facility (LETF) to design and build high fidelity mock-ups of Columbia's left wing leading edges. These leading edge segments, constructed of reinforced carbon-carbon, were a major point of inquiry by the investigation team. The LETF engineers developed a concept of building a clear Lexan panel with an aluminum support structure ten percent larger than the original panel. The leading edge debris are attached to the Lexan panels and both the front and back side of each panel are visible for inspection. The entire assembly can be rotated, to provide visual access to the entire panel. Six carts were fabricated to support the thirteen panels. These carts could be set up in order, next to each other, to provide the desired inspection access. The carts and attached debris are currently located in the Vehicle Assembly Building at KSC.

Trautwein, John↗

Potential-Field Scheme For Avoidance Of Obstacles By A Robot

Software for guidance of robot to operate in plant-growth chamber provides for end effector of robot to avoid obstacles at known positions. Includes algorithm implementing potential-field method for guidance away from obstacles and toward goal point, where object manipulated by end effector may be located.

Wegerif, Dan↗

Robot Avoids Collisions With Obstacles

Developmental robot equipped with infrared sensors and control system acting in concert to enable manipulator arm to move around obstacles. Robot avoids collisions with other objects, even when moving in unpredictable ways. Control system requires no prior knowledge of environment.

Cheung, Edward↗

Automation of vehicle processing at Space Station Freedom

A methodology for applying the Kennedy Space Center vehicle processing experience to similar operations at Space Station Freedom is described. First, the required on-orbit processing tasks are identified. These tasks are then evaluated for automation suitability, and robotic manipulator and artificial intelligence technologies are investigated to automate selected physical and cognitive tasks. Effects on processing times, extra-vehicular activity savings, and required resources for incorporating these automation enhancements are identified. Results of the following case studies are included: Phobos Gateway Vehicle On-Orbit Assembly and Launch, Lunar Evolution Vehicle On-Orbit Refurbishment, and Mars Mission Vehicle On-Orbit Assembly and Launch.

Vargo, Rick↗

Robotic applications at Kennedy Space Center

McDonnell Douglas performed a study (1987) to find effective application of robots and their associated technology at the Kennedy Space Center (KSC). Specifically, this study was directed toward the newly planned Space Station Processing Facility (SSPF). Because the Operations and Checkout (O and C) building has a similar charter to that of the SSPF, the O and C was carefully checked for potential robotic applications. Eleven applications were discovered and a trade study developed to rate these applications. Twenty more applications external to the SSPF were found during additional studies. These robotic tasks fall into three major categories including: teleoperated robots for hazardous tasks, mobile robots for repetitive tasks and feedback compensated robots for refurbishment and inspection tasks. This paper highlights some of the requirements for these tasks and others external to the SSPF. Additionally, the resources available at KSC are discussed.

Wegerif, Dan↗