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At least 217 records · Page 12

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NASA NTRSDate not supplied

EVA Planning: Using Neutral Buoyancy Laboratory (NBL) Training to Predict in-Flight Energy Expenditure

Metabolic rate (“met rate”) is the amount of energy expended over a period of time and is influenced by many factors including body composition, level of physical activity, resting metabolic rate, sex, age, and food intake. Met rate is measured during Extravehicular Activity (EVA) training at the Neutral Buoyancy Laboratory (NBL) and during in-flight EVAs through indirect calorimetry, calculating energy expenditure from respiratory measurements of O 2 consumption and/or CO 2 production. During Extravehicular Activity (EVA) planning, metabolic cost is important to consider and is used to inform EVA duration based on spacesuit consumables associated with life support systems. Currently, NBL and previous ISS EVA met rate data for specified crewmembers are utilized to predict in-flight EVA metabolic costs based on a proposed EVA timeline. Timeline data collected during training is used to relate met rates to specific EVA activities, which are in turn assigned to more generalized EVA task categories, categorizing by both task type and restraint type. EVA task categories include EVA Setup/Cleanup, Worksite Setup/Cleanup, Cable Routing, Bolts, Fluid Connectors, Electrical Connectors, R&R Work, Miscellaneous Work, Incapacitated Crew Rescue (being rescued or performing), Assisted Crew Rescue (being assisted or performing), and Translation. Restraint types consist of Free-Float, Body Restraint Tether (BRT), Articulating Portable Foot Restraint (APFR), and Space Station Remote Manipulator System (SSRMS). From a crewmember’s historical data, individualized 10th, 50th and 90th percentile met rate estimates are generated for each task category and used to estimate the proposed EVA timeline metabolic cost. In-flight metabolic data (“As-Executed”) from recent ISS US EVAs 85-88 (totaling eight EVA crewmember met rates) was compared with their predicted metabolic cost (“As-Planned”) to evaluate the accuracy of the current met rate estimation method. Across the four EVAs, As-Executed Cumulative EVA Total Metabolic Cost (M = 5893.78 BTU, SD = 816.60) was not significantly different compared to As-Planned Cumulative EVA Total Metabolic Cost (M = 6106.60 BTU, SD = 826.62; t(7) = 0.751 , p = .477). Though not a significant difference, generally, As-Planned total estimates were slightly higher than As-Executed total metabolic cost. Relative Error for Cumulative EVA Total Metabolic Cost ranged from -33% to 14.7%, depending on the crewmember and EVA. When comparing As-Planned to A-Executed EVA task categories for Bolts, Electrical Connectors, EVA Cleanup, EVA Setup, Miscellaneous Work, Translation, Worksite Cleanup, and Worksite Setup during these EVAs, no significant differences were observed, however, there was a significant difference in As-Planned (M = 783.71 BTU, SD = 408.88) compared to As-Executed (M = 608.87 BTU, SD = 425.29) metabolic cost for the task category of Repair-and-Replace (R&R) Work (t(17) = 3.21 , p = .005). Looking closer within the R&R Work task category, As-Executed R&R Work with Free-Float restraint type (M = 706.17 BTU, SD = 352.18) was significantly less than As-Planned R&R Work with Free-Float restraint type (M= 887.96 BTU, SD = 381.42; t(12) = 2.59, p < .024). As-Executed R&R Work with SSRMS Restraint type (M = 355.89 BTU, SD = 534.65) was not significantly different from As-Planned values (M = 512.69 BTU, SD = 383.34; t(4) = 1.88, p = 0.132). These findings suggest that the energy expended performing R&R Work (Free-Float) is lower in flight than predicted. Accurate predictions of the metabolic cost of EVA are essential for planning and executing successful ISS EVAs. Overall, the current met rate prediction method is similar to actual in-flight values, slightly erring on the side of overestimation. Future work includes analysis of more historical in-flight EVA data to increase the power of the analysis, evaluating the NBL-ISS met rate conversion factor between NBL and ISS tasks, as well as exploring methods of substitution when crewmembers are missing prior task category data.

Lauren Cox↗

NASA NTRS1988

Technology transfer: Imaging tracker to robotic controller

The transformation of an imaging tracker to a robotic controller is described. A multimode tracker was developed for fire and forget missile systems. The tracker locks on to target images within an acquisition window using multiple image tracking algorithms to provide guidance commands to missile control systems. This basic tracker technology is used with the addition of a ranging algorithm based on sizing a cooperative target to perform autonomous guidance and control of a platform for an Advanced Development Project on automation and robotics. A ranging tracker is required to provide the positioning necessary for robotic control. A simple functional demonstration of the feasibility of this approach was performed and described. More realistic demonstrations are under way at NASA-JSC. In particular, this modified tracker, or robotic controller, will be used to autonomously guide the Man Maneuvering Unit (MMU) to targets such as disabled astronauts or tools as part of the EVA Retriever efforts. It will also be used to control the orbiter's Remote Manipulator Systems (RMS) in autonomous approach and positioning demonstrations. These efforts will also be discussed.

Otaguro, M. S.↗

NASA NTRS2001

Video-Based Sensor for Robotic Position and Attitude determination

NASA's Marshall Space Flight Center (MSFC) has, for the last ten years, developed various video-based sensors for use in automated docking systems. The latest generation of sensor will operate at rates of up to 100 Hz, determining the relative position (X, Y, and Z) and attitude (Roll, Pitch, and Yaw) between the sensor and a small 3-dimensional target, making it suitable for applications in robotic sensing. The Advanced Video Guidance Sensor (AVGS) is designed to track multiple targets at different ranges and determine the position and attitude of each one. The previous generation of video sensor, the Video Guidance Sensor (VGS), was flown twice on the Space Shuttle to test its performance on orbit. One of the tests performed was determining the relative positions and attitudes between the VGS and its target, which was moved to various positions using the Remote Manipulator System (RMS). The RMS position data and VGS measured data were analyzed after the flights, with good correlation between the position and attitude data of the two data sets. The test using the RMS gives a good idea of the ability of the use of the AVGS as a sensor for end-effector position and attitude determination.

Howard, Richard T.↗

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 NTRS1996

Magnetic docking aid for orbiter to ISS docking

The present docking system for the Orbiter uses mechanical capture latches that are actuated by contact forces. The forces are generated when the two approaching masses collide at the docking mechanism. There is always a trade-off between having high enough momentum to effect capture and low enough momentum to avoid structural overload or unacceptable angular displacements. The use of the present docking system includes a contact thrusting maneuver that causes high docking loads to be included into Space Station. A magnetic docking aid has been developed to reduce the load s during docking. The magnetic docking aid is comprised of two extendible booms that are attached adjacent to the docking structure with electromagnets attached on the end of the boom. On the mating vehicle, two steel plates are attached. As the Orbiter approaches Space Station, the booms are extended, and the magnets attach to the actuated (without thrusting), by slowly driving the extendible booms to the stowed position, thus reacting the load into the booms. This results in a docking event that has lower loads induced into Space Station structure. This method also greatly simplifies the Station berthing tasks, since the Shuttle Remote Manipulation System (SRMS) arm need only place the element to be berthed on the magnets (no load required), rather than firing the Reaction Control System (RCS) jets to provide the required force for capture latch actuation. The Magnetic Docking Aid was development testing on a six degree-of-freedom (6 DOF) system at JSC.

Schneider, William C.↗

NASA NTRS1991

Operations with the special purpose dextrous manipulator on Space Station Freedom

SPAR Canada is actively participating in the Space Station Freedom Program by contributing the Mobile Servicing System (MSS) which will be involved in assembly, maintenance and servicing of both the Space Station and the MSS itself. Part of the MSS is the Special Purpose Dextrous Manipulator (SPDM), a two armed dextrous robot with advanced vision and manipulative capabilities. In addition to Space Station and payload servicing activities the SPDM will be designed to perform self maintenance on the MSS itself. The majority of Space Station equipment will be on orbit for the anticipated 30 year lifespan and the maintenance philosophy will be to repair by the exchange of Orbit Replacement Units or ORUs. The present concept, configuration, and operation of the SPDM and the detailed simulations associated with the maintenance of part of the MSS are described. The Design Reference Mission is the replacement of a Joint Drive Module on the Canadian large payload manipulator, the Space Station Remote Manipulator System. Other Design Reference Missions that were investigated are briefly described, and future operations activity to support the definition of SPDM requirements are discussed.

Cox, B.↗

NASA NTRS1992

Role of automation in the ACRV operations

The Assured Crew Return Vehicle (ACRV) will provide the Space Station Freedom with contingency means of return to earth (1) of one disabled crew member during medical emergencies, (2) of all crew members in case of accidents or failures of SSF systems, and (3) in case of interruption of the Space Shuttle flights. A wide range of vehicle configurations and system approaches are currently under study. The Program requirements focus on minimizing life cycle costs by ensuring simple operations, built-in reliability and maintainability. The ACRV philosophy of embedded operations is based on maximum use of existing facilities, resources and processes, while minimizing the interfaces and impacts to the Space Shuttle and Freedom programs. A preliminary integrated operations concept based on this philosophy and covering the ground, flight, mission support, and landing and recovery operations has been produced. To implement the ACRV operations concept, the underlying approach has been to rely on vehicle autonomy and automation, to the extent possible. Candidate functions and processes which may benefit from current or near-term automation and robotics technologies are identified. These include, but are not limited to, built-in automated ground tests and checkouts; use of the Freedom and the Orbiter remote manipulator systems, for ACRV berthing; automated passive monitoring and performance trend analysis, and periodic active checkouts during dormant periods. The major ACRV operations concept issues as they relate to the use of automation are discussed.

Sepahban, S. F.↗

NASA NTRS1987

A space systems perspective of graphics simulation integration

Creation of an interactive display environment can expose issues in system design and operation not apparent from nongraphics development approaches. Large amounts of information can be presented in a short period of time. Processes can be simulated and observed before committing resources. In addition, changes in the economics of computing have enabled broader graphics usage beyond traditional engineering and design into integrated telerobotics and Artificial Intelligence (AI) applications. The highly integrated nature of space operations often tend to rely upon visually intensive man-machine communication to ensure success. Graphics simulation activities at the Mission Planning and Analysis Division (MPAD) of NASA's Johnson Space Center are focusing on the evaluation of a wide variety of graphical analysis within the context of present and future space operations. Several telerobotics and AI applications studies utilizing graphical simulation are described. The presentation includes portions of videotape illustrating technology developments involving: (1) coordinated manned maneuvering unit and remote manipulator system operations, (2) a helmet mounted display system, and (3) an automated rendezous application utilizing expert system and voice input/output technology.

Brown, R.↗

NASA NTRS1995

Shearographic non-destructive evaluation of space shuttle thermal protection systems

Preliminary results of shearographic inspections of the shuttle external tank (ET) spray-on foam insulation (SOFI) and solid rocket booster (SRB) Marshall sprayable ablative (MSA-2) epoxy-cork thermal protection systems (TPS) are presented. Debonding SOFI or MSA-2 damage the orbiter 'belly' tile and exposes the ET/SRB to thermal loading. Previous work with the ET/SRB showed promising results with shearography. The first area investigated was the jack pad close-out, one of many areas on the ET where foam is applied at KSC. Voids 0.375 inch were detected in 1.75 inch thick foam using a pressure reduction of less than 0.4 psi. Of primary interest are areas of the ET that directly face the orbiter tile TPS. It is estimated that 90% of tile TPS damage on the orbiter 'belly' results from debonding SOFI during ascent. Test panels modeling these areas were manufactured with programmed debonds to determine the sensitivity of shearography as a function of debond size, SOFI thickness and vacuum. Results show repeatable detection of debonds with a diameter approximately half the SOFI thickness at less than 0.4 psi pressure reduction. Preliminary results are also presented on inspections of MSA-2 and the remote manipulator system (RMS) honeycomb material

Hooker, Jeffrey A.↗

NASA NTRS1995

Shearographic Non-destructive Evaluation of Space Shuttle Thermal Protection Systems

Davis, Christopher K.↗

NASA NTRS2014

The Situational Awareness Sensor Suite for the ISS (SASSI): A Mission Concept to Investigate ISS Charging and Wake Effects

The complex interaction between the International Space Station (ISS) and the surrounding plasma environment often generates unpredictable environmental situations that affect operations. Examples of affected systems include extravehicular activity (EVA) safety, solar panel efficiency, and scientific instrument integrity. Models and heuristically‐derived best practices are well‐suited for routine operations, but when it comes to unusual or anomalous events or situations, especially those driven by space weather, there is no substitute for real‐time monitoring. Space environment data collected in real‐time (or near‐real time) can be used operationally for both real‐time alarms and data sources in assimilative models to predict environmental conditions important for operational planning. Fixed space weather instruments mounted to the ISS can be used for monitoring the ambient space environment, but knowing whether or not (or to what extent) the ISS affects the measurements themselves requires adequate space situational awareness (SSA) local to the ISS. This paper presents a mission concept to use a suite of plasma instruments mounted at the end of the ISS robotic arm to systematically explore the interaction between the Space Station structure and its surrounding environment. The Situational Awareness Sensor Suite for the ISS (SASSI) would be deployed and operated on the ISS Express Logistics Carrier (ELC) for long‐term "survey mode" observations and the Space Station Remote Manipulator System (SSRMS) for short‐term "campaign mode" observations. Specific areas of investigation include: 1) ISS frame and surface charging during perturbations of the local ISS space environment, 2) calibration of the ISS Floating Point Measurement Unit (FPMU), 3) long baseline measurements of ambient ionospheric electric potential structures, 4) electromotive force-induced currents within large structures moving through a magnetized plasma, and 5) wake‐induced ion waves in both electrostatic (i.e. particles) and electromagnetic modes. SASSI will advance the understanding of plasma‐boundary interaction phenomena, demonstrate a suite a sensors acting in concert to provide effective SSA, and validate and/or calibrate existing ISS space environment instruments and models.

Krause, L. Habash↗

NASA NTRS1967

Supervisory control of manipulation

Design concepts for supervisor-controlled remote manipulation system

Ferrell, W. R.↗

NASA NTRS1975

In-orbit servicing

A concept called the low-cost modular spacecraft, in which the subsystems would be contained in replaceable modules and which would be capable of various applications, is under engineering development. Studies have shown that servicing of such a spacecraft on orbit by the Space Shuttle over an extended lifetime is more economical than three other alternatives: launching replacement satellites on conventional boosters as existing satellites fail, launching replacements by Shuttle, or launching replacement satellites and retrieving malfunctioning satellites by Shuttle. For on-orbit servicing, the Shuttle would use its Remote Manipulator system (RMS) to bring the malfunctioning satellite into its cargo bay. The Flight Support System (FSS) on the Orbiter used for servicing the satellite would include an appendage storage frame, a retention cradle, a positioning platform, a Module Exchange Mechanism (MEM), and a storage magazine. Ground simulations are under way with the Orbiter mockup.

Cepollina, F. J.↗

NASA NTRS1977

Kinematic capability in the SVDS

The details of the Remote Manipulator System kinematic model implemented into the Space Vehicle Dynamics Simulation are given. Detailed engineering flow diagrams and definitions of terms are included.

Flanders, H. A.↗

NASA NTRS1977

RMS massless arm dynamics capability in the SVDS

The equations of motion for the remote manipulator system, assuming that the masses and inertias of the arm can be neglected, are developed for implementation into the space vehicle dynamics simulation (SVDS) program for the Orbiter payload system. The arm flexibility is incorporated into the equations by the computation of flexibility terms for use in the joint servo model. The approach developed in this report is based on using the Jacobian transformation matrix to transform force and velocity terms between the configuration space and the task space to simplify the form of the equations.

Flanders, H. A.↗

NASA NTRS1978

New dimensions for man

The functions of man in space have been in a state of constant change since the first manned orbital flight. Initially, the onboard crewmen performed those tasks essential to piloting and navigating the spacecraft. The time devoted to these tasks has steadily decreased and the crewman's time is being allotted to functions other than orbital operations. The evolving functions include added orbital operational capabilities, experimentation, spacecraft maintenance, and fabrication of useful end items. The new functions will include routine utilization of the crewman to extend mission life, satellite retrieval and servicing, remote manipulator systems operations, and piloting of free-flying teleoperator systems. The most demanding tasks are anticipated to be associated with construction of large space structures. The projected changes will introduce innovative designs and revitalize the concepts for utilizing man in space.

Louviere, A. J.↗

NASA NTRS1978

Shuttle crew station astronaut interfaces

The current shuttle orbiter configuration and its crew module and payload bay accomodations for work and off duty activities are described. The capability of the remote manipulator system and provisions to support extravehicular activities are examined with emphasis on flight crew activities for orbital flight tests and for early operational space transportation system flights. Facilities used to verify crew interfaces are also described.

Franklin, G. C.↗

NASA NTRS1978

Shuttle demonstration of large space structure fabrication and assembly

This paper describes a program aimed at the early on-orbit demonstration of a large-space-structure fabrication and assembly capability. Requirements for the demonstration concept have been formulated. The concept selected to meet these requirements is a Large Space Structure Platform consisting of a triangular prism of 31.5 m length. Sensors can be mounted on this platform to perform earth-observation measurements from space. Structural elements of the platform are fabricated using an automated beam builder in the Shuttle Orbiter payload bay. Special fixtures are designed to assemble the structure with the aid of the remote manipulator system and two astroworkers in an EVA mode. Results of the platform preliminary design are presented in terms of a design layout with related structural, thermal, mass-properties, and control-dynamics data. The assembly scenario is described. Estimates of the total construction time and Orbiter support requirements are also presented.

Fleisig, R.↗