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NASA NTRS2005

International Cooperation in the Field of International Space Station (ISS) Payload Safety

In the frame of the International Space Station (ISS) Program cooperation, in 1998, the European Space Agency (ESA) approached the National Aeronautics and Space Administration (NASA) with the unique concept of a Payload Safety Review Panel (PSRP) "franchise" based at the European Space Technology Center (ESTEC), where the panel would be capable of autonomously reviewing flight hardware for safety. This paper will recount the course of an ambitious idea as it progressed into a fully functional reality. It will show how a panel initially conceived at NASA to serve a national programme has evolved into an international safety cooperation asset. The PSRP established at NASA began reviewing ISS payloads approximately in late 1994 or early 1995 as an expansion of the pre-existing Shuttle Program PSRP. This paper briefly describes the fundamental Shuttle safety process and the establishment of the safety requirements for payloads intending to use the Space Transportation System and International Space Station (ISS). The paper will also offer some historical statistics about the experiments that completed the payload safety process for Shuttle and ISS. The paper 1 then presents the background of ISS agreements and international treaties that had to be taken into account when establishing the ESA PSRP. The detailed franchising model will be expounded upon, followed by an outline of the cooperation charter approved by the NASA Associate Administrator, Office of Space Flight, and ESA Director of Manned Spaceflight and Microgravity. The resulting ESA PSRP implementation and its success statistics to date will then be addressed. Additionally the paper presents the ongoing developments with the Japan Aerospace Exploration Agency. The discussion will conclude with ideas for future developments, such to achieve a fully integrated international system of payload safety panels for ISS.

Heimann, Timothy↗

NASA NTRS1993

Programmable display pushbuttons on the Space Station's telerobot control panel

The Man-Systems Telerobotics Laboratory at NASA's Johnson Space Center and supported by Lockheed, is working to ensure that the Flight Telerobotic Servicer (FTS) to be used on the Space Shuttle (Orbiter) and the Space Station has a well designed user interface from a Human Factors perspective. The FTS, which is a project led by NASA's Goddard Space Flight Center, will be a telerobot used for Space Station construction, maintenance, and satellite repair. It will be directly controlled from workstations on the Orbiter and the Space Station and monitored from a ground workstation. The FTS will eventually evolve into a more autonomous system, but in the short-term the system will be manually operated (teleoperated) for many tasks. This emphasizes the importance of the human/telerobot interface on this system. This phase of the FTS workstation evaluation covers a preliminary study of programmable display pushbuttons (PDP's). The PDP is constructed of a matrix of directly addressable electroluminescent (EL) pixels which can be used to form dot-matrix characters. PDP's can be used to display more than one message and to control more than one function. Since the PDP's have these features, then a single PDP may possibly replace the use of many single-function pushbuttons, rotary switches, and toggle switches, thus using less panel space. It is of interest to determine if PDP's can be used to adequately perform complex hierarchically structured task sequences. The objective of this investigation was to compare the performance of experienced and inexperienced Remote Manipulator System (RMS) operators while performing an RMS like task on simulated PDP and non-PDP computer prototypes so that guidelines governing the use of programmable display pushbuttons on the FTS workstation could be created. The functionality of the RMS on the Orbiter was used as a model for this evaluation since the functionality of the FTS at the time of this writing has not been solidified.

Stuart, Mark A.↗

NASA NTRS1999

Binary Colloidal Alloy Test Conducted on Mir

Colloids are tiny (submicron) particles suspended in fluid. Paint, ink, and milk are examples of colloids found in everyday life. The Binary Colloidal Alloy Test (BCAT) is part of an extensive series of experiments planned to investigate the fundamental properties of colloids so that scientists can make colloids more useful for technological applications. Some of the colloids studied in BCAT are made of two different sized particles (binary colloidal alloys) that are very tiny, uniform plastic spheres. Under the proper conditions, these colloids can arrange themselves in a pattern to form crystals. These crystals may form the basis of new classes of light switches, displays, and optical devices. Windows made of liquid crystals are already in the marketplace. These windows change their appearance from transparent to opaque when a weak electric current is applied. In the future, if the colloidal crystals can be made to control the passage of light through them, such products could be made much more cheaply. These experiments require the microgravity environment of space because good quality crystals are difficult to produce on Earth because of sedimentation and convection in the fluid. The BCAT experiment hardware included two separate modules for two different experiments. The "Slow Growth" hardware consisted of a 35-mm camera with a 250- exposure photo film cartridge. The camera was aimed toward the sample module, which contained 10 separate colloid samples. A rack of small lights provided backlighting for the photographs. The BCAT hardware was launched on the shuttle and was operated aboard the Russian space station Mir by American astronauts John Blaha and David Wolf (launched September 1996 and returned January 1997; reflown September 1997 and returned January 1998). To begin the experiment, one of these astronauts would mix the samples to disperse the colloidal particles and break up any crystals that might have already formed. Once the samples were mixed and the experiment was powered on, the hardware operated autonomously, taking photos of the colloidal samples over a 90-day period.

Hoffmann, Monica I.↗

NASA NTRS2005

Smart Sensors' Role in Integrated System Health Management

During the last decade, there has been a major effort in the aerospace industry to reduce the cost per pond of payload and become competitive in the international market. Competition from Europe, Japan, and China has reduced this cost to almost a third from 1990 to 2000. This cost has leveled in recent years to an average price of around $12,000/pound of payload. One of NASA's goals is to promote the development of technologies to reduce this cost by a factor of 10 or more Exploration of space, specially manned exploration missions, involves very complex launch and flight vehicles, associated ground support systems, and extensive human support during all phases of the mission. When considering the Space Shuttle Program, we can see that vehicle and ground support systems' processing, operation, and maintenance represent a large percentage of the program cost and time. Reducing operating, processing and maintenance costs will greatly reduce the cost of Exploration programs. The Integrated System Health Management (ISHM) concept is one of the technologies that will help reduce these operating, processing and maintenance costs. ISHM is an integrated health monitoring system applicable to both flight and ground systems. It automatically and autonomously acquires information from sensors and actuators and processes that information using the ISHM-embedded knowledge. As a result, it establishes the health of the system based on the acquired information and its prior knowledge. When this concept is fully implemented, ISHM systems shall be able to perform failure prediction and remediation before actual hard failures occurs, preventing its costly consequences. Data sources, sensors, and their associated data acquisition systems, constitute the foundation of the system. A smart sensing architecture is required to support the acquisition of reliable, high quality data, required by the ISHM. A thorough definition of the smart sensor architectures, their embedded diagnostic agents, and communication protocols need to be established and standardized to allow the embedding and exchange of health information among sensors and ISHM. This workshop is aimed to foster the exchange of ideas and lessons learned between government, industry and academia to aid in the establishment of ISHM (and smart sensors) standards and guidelines as well as to identify present technology gaps that will have to be overcome to successfully achieve this goal.

Perotti, Jose M.↗

NASA NTRS2004

Machine Vision Applied to Navigation of Confined Spaces

The reliability of space related assets has been emphasized after the second loss of a Space Shuttle. The intricate nature of the hardware being inspected often requires a complete disassembly to perform a thorough inspection which can be difficult as well as costly. Furthermore, it is imperative that the hardware under inspection not be altered in any other manner than that which is intended. In these cases the use of machine vision can allow for inspection with greater frequency using less intrusive methods. Such systems can provide feedback to guide, not only manually controlled instrumentation, but autonomous robotic platforms as well. This paper serves to detail a method using machine vision to provide such sensing capabilities in a compact package. A single camera is used in conjunction with a projected reference grid to ascertain precise distance measurements. The design of the sensor focuses on the use of conventional components in an unconventional manner with the goal of providing a solution for systems that do not require or cannot accommodate more complex vision systems.

Briscoe, Jeri M.↗

NASA NTRS2003

0g Climbing - The Challenge of Walking in Space

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall -- an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Ambrose, Robert O.↗

NASA NTRS2004

0g Climbing - The Challenge of Walking in Space

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall-an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Ambrose, Robert O.↗

NASA NTRS2018

Training for Mars

Spaceflight training for Apollo era and Space Shuttle missions was designed to train crew on specific tasks for their short duration missions. The training mottos included "practice, practice, practice" and "hammering it in." However, training for longer duration ISS (International Space Station) missions has been more challenging. There is clear documentation that tasks and skills trained pre-flight are not all retained throughout the mission, and this lack of training retention is augmented with real-time ground support. NASA does not currently have a training design that supports semi-autonomous to autonomous mission operations. The current design of a manned Mars mission calls for a 32-month long mission and asynchronous communication involving long delays.

Barshi, Immanuel↗

NASA NTRS1991

A hazard control system for robot manipulators

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

Carter, Ruth Chiang↗

NASA NTRS1986

Space Shuttle cloud detection and earth feature classification experiment

The Feature Identification and Location Experiment (FILE) that is being designed for the detection and classification of four primary earth features (water, vegetation, bare land, and the clouds-snow-ice class) is described. Consideration is given to the FILE classification technology concept and the FILE instrument, which will use two solid-state CCD cameras operating at 0.65 and 0.85-micron center frequency wavelengths, with the camera outputs being functions of the earth surface material radiance. The classification is based on camera output radiance ratio values. The preliminary analysis of the data collected on the STS 41-G mission is discussed. The results demonstrated the suitability of using the two-channel-ratio detection technology and a simple (y = mx) algorithm to autonomously classify the four earth surface features. The technology is especially attractive as a cloud sensor, where, in advance of or during a mission, a threshold value for cloud cover percentage can be programmed and/or adaptively modified for use in the control of other remote sensors.

Sivertson, W. E., Jr.↗

NASA NTRS2006

NASA Tech Briefs, July 2006

Topics covered include: Airport Remote Tower Sensor Systems; Implantable Wireless MEMS Sensors for Medical Uses; Embedded Sensors for Measuring Surface Regression; Coordinating an Autonomous Earth-Observing Sensorweb; Range-Measuring Video Sensors; Stability Enhancement of Polymeric Sensing Films Using Fillers; Sensors for Using Times of Flight to Measure Flow Velocities; Receiver Would Control Phasing of a Phased-Array Antenna; Modern Design of Resonant Edge-Slot Array Antennas; Carbon-Nanotube Schottky Diodes; Simplified Optics and Controls for Laser Communications; Coherent Detection of High-Rate Optical PPM Signals; Multichannel Phase and Power Detector; Using Satellite Data in Weather Forecasting: I; Using Dissimilarity Metrics to Identify Interesting Designs; X-Windows PVT Widget Class; Shuttle Data Center File-Processing Tool in Java; Statistical Evaluation of Utilization of the ISS; Nanotube Dispersions Made With Charged Surfactant; Aerogels for Thermal Insulation of Thermoelectric Devices; Low-Density, Creep-Resistant Single-Crystal Superalloys; Excitations for Rapidly Estimating Flight-Control Parameters; Estimation of Stability and Control Derivatives of an F-15; Tool for Coupling a Torque Wrench to a Round Cable Connector; Ultrasonically Actuated Tools for Abrading Rock Surfaces; Active Struts With Variable Spring Stiffness and Damping; Multiaxis, Lightweight, Computer-Controlled Exercise System; Dehydrating and Sterilizing Wastes Using Supercritical CO2; Alpha-Voltaic Sources Using Liquid Ga as Conversion Medium; Ice-Borehole Probe; Alpha-Voltaic Sources Using Diamond as Conversion Medium; White-Light Whispering-Gallery-Mode Optical Resonators; Controlling Attitude of a Solar-Sail Spacecraft Using Vanes; and Wire-Mesh-Based Sorber for Removing Contaminants from Air.

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NASA NTRS1990

Autonomous integrated GPS/INS navigation experiment for OMV. Phase 1: Feasibility study

The phase 1 research focused on the experiment definition. A tightly integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation filter design was analyzed and was shown, via detailed computer simulation, to provide precise position, velocity, and attitude (alignment) data to support navigation and attitude control requirements of future NASA missions. The application of the integrated filter was also shown to provide the opportunity to calibrate inertial instrument errors which is particularly useful in reducing INS error growth during times of GPS outages. While the Orbital Maneuvering Vehicle (OMV) provides a good target platform for demonstration and for possible flight implementation to provide improved capability, a successful proof-of-concept ground demonstration can be obtained using any simulated mission scenario data, such as Space Transfer Vehicle, Shuttle-C, Space Station.

Upadhyay, Triveni N.↗

NASA NTRS1993

Analysis and effects of the advanced solid rocket motor on the Space Shuttle elements

This interim final report summarizes the activities and major accomplishments under NASA/MSFC Contract NAS8-39235 for the initial two year contractual effort beginning October 1, 1991, and ending September 30, 1993. It is not intended as an exhaustive treatment or review of any particular technical issue which was addressed during this two-year period, but does provide an overview of the many induced environment studies and test support activities undertaken by REMTECH and its subcontractors during this two-year period. The initial scope of work has been pursued vigorously through this two-year period by separating the effort into five functional areas. The five functional areas are ascent plume radiation, ascent plume convection, ascent aerodynamic heating, launch stand environments, and reentry heating. A work breakdown structure (WBS) for each functional area was devised to permit nearly autonomous activities within each functional responsibility while maintaining commonality in reporting procedures and cost accounting. The contract was modified 11 times to provide incremental funding and to expand the scope of work. Additional work breakdown structure was incorporated to meet the expanded scope. A contract chronology is provided in Section 2. The initial scope of work, expanded scope, and corresponding WBS designation are described in Section 3. A summary review of major accomplishments is also provided in Section 4 to show the breadth of activities and extent of reporting. Reports, meetings, test activities, and other accomplishments within each functional area are also summarized by WBS heading in the appendices.

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NASA NTRS1990

Fluid Phase Separation (FPS) experiment for flight on a space shuttle Get Away Special (GAS) canister

The separation of fluid phases in microgravity environments is of importance to environmental control and life support systems (ECLSS) and materials processing in space. A successful fluid phase separation experiment will demonstrate a proof of concept for the separation technique and add to the knowledge base of material behavior. The phase separation experiment will contain a premixed fluid which will be exposed to a microgravity environment. After the phase separation of the compound has occurred, small samples of each of the species will be taken for analysis on the Earth. By correlating the time of separation and the temperature history of the fluid, it will be possible to characterize the process. The experiment has been integrated into space available on a manifested Get Away Special (GAS) experiment, CONCAP 2, part of the Consortium for Materials Complex Autonomous Payload (CAP) Program, scheduled for STS-42. The design and the production of a fluid phase separation experiment for rapid implementation at low cost is presented.

Peters, Bruce↗

NASA NTRS1990

Lunar habitat concept employing the Space Shuttle external tank

The Space Shuttle external tank, which consists of a liquid oxygen tank, an intertank structure, and a liquid hydrogen tank, is an expendable structure used for approximately 8.5 min during each launch. A concept for outfitting the liquid oxygen tank-intertank unit for a 12-person lunar habitat is described. The concept utilizes existing structures and openings for both man and equipment access without compromising the structural integrity of the tank. Living quarters, instrumentation, environmental control and life support, thermal control, and propulsion systems are installed at Space Station Freedom. The unmanned habitat is then transported to low lunar orbit and autonomously soft landed on the lunar surface. Design studies indicate that this concept is feasible by the year 2000 with concurrent development of a space transfer vehicle and manned cargo lander for crew changeover and resupply.

King, Charles B.↗

NASA NTRS1993

Automated propellant leak detection

An automated hydrogen leak detection system is being developed for earth-to-orbit rocket engine applications. The system consists of three elements, a sensor array, a signal processing unit, and a diagnostic processor. The sensor array consists of discrete solid state sensors which are located at specific potential leak sites and in potential leak zones. The signal processing unit provides excitations power for the sensors and provides analog to digital data conversion of the sensor signals. The diagnostic computer analyzes the sensor outputs to determine leak sources and magnitude. Leak data from the sensor network is interpreted using knowledge based software and displayed on-line through a graphical user interface including 3-D leak visualization. The system requirements have been developed assuming eventual application to the Space Shuttle Main Engine which requires approximately 72 measurement locations. A prototype system has been constructed to demonstrate the operational features of the system. This system includes both prototype electronics and data processing software algorithms. Experiments are in progress to evaluate system operation at conditions which simulate prelaunch and flight. The prototype system consists of a network using 16 sensors within a testbed which simulates engine components. Sensor response, orientation, and data analysis algorithms are being evaluated using calibrated leaks produced within the testbed. A prototype flight system is also under development consisting of 8 sensors and flight capable electronics with autonomous control and data recording.

Makel, D. B.↗

NASA NTRS1989

Laser-boosted lightcraft technology demonstrator

The ultimate goal for this NASA/USRA-sponsored 'Apollo Lightcraft Project' is to develop a revolutionary manned launch vehicle technology that can potentially reduce payload transport costs by a factor of 1000 below the space shuttle orbiter. The Rensellaer design team proposes to utilize advanced, highly energetic, beamed-energy sources (laser, microwave) and innovative combined-cycle (airbreathing/rocket) engines to accomplish this goal. This year's effort, the detailed description and performance analysis of an unmanned 1.4-m Lightcraft Technology Demonstrator (LTD) drone, is presented. The novel launch system employs a 100-MW-class ground-based laser to transmit power directly to an advanced combined-cycle engine that propels the 120-kg LTD to orbit, with a mass ratio of two. The single-stage-to-orbit (SSTO) LTD machine then becomes an autonomous sensor satellite that can deliver precise, high-quality information typical of today's large orbital platforms. The dominant motivation behind this study is to provide an example of how laser propulsion and its low launch costs can induce a comparable order-of-magnitude reduction in sensor satellite packaging costs. The issue is simply one of production technology for future, survivable SSTO aerospace vehicles that intimately share both laser propulsion engine and satellite functional hardware. A mass production cost goal of 10(exp 3)/kg for the LTD vehicle is probably realizable.

Antonison, M.↗

NASA NTRS2014

Morpheus Vertical Test Bed Flight Testing

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing, that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a LOX/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. Morpheus onboard software is autonomous from ignition all the way through landing, and is designed to be capable of executing a variety of flight trajectories, with onboard fault checks and automatic contingency responses. The Morpheus 1.5A vehicle performed 26 integrated vehicle test flights including hot-fire tests, tethered tests, and two attempted freeflights between April 2011 and August 2012. The final flight of Morpheus 1.5A resulted in a loss of the vehicle. In September 2012, development began on the Morpheus 1.5B vehicle, which subsequently followed a similar test campaign culminating in free-flights at a simulated planetary landscape built at Kennedy Space Center's Shuttle Landing Facility. This paper describes the integrated test campaign, including successes and setbacks, and how the system design for handling faults and failures evolved over the course of the project.

Hart, Jeremy↗