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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Design, construction and utilization of a space station assembled from 5-meter erectable struts

Presented are the primary characteristics of the 5-meter erectable truss designated for the space station. The relatively large 5-meter truss dimension was chosen to provide a deep beam for high bending stiffness yet provide convenient mounting locations for space shuttle cargo bay size payloads which are 14.5 ft. (4.4 m) in diameter. Truss nodes and quick-attachment erectable joints are described which provide for evolutionary three-dimensional growth and for simple maintenance and repair. A mobile remote manipulator system is described which is provided to assist in station construction and maintenance. A discussion is also presented of the construction of the space station and the associated EVA time.

Mikulas, M. M., Jr.↗
NASA NTRS1987

Reducing shuttle-payload dynamic interaction with notch filters

The use of notch filters centered on the estimated bending frequencies to reduce the effect of low-frequency Shuttle-payload dynamic interaction is investigated. The Shuttle-payload dynamics that are studied are with payloads attached to the Shuttle Remote Manipulator System (RMS). Other payload-orbiter connection such as payloads pivoted out of the cargo bay on a tilt table can lead to low-frequency bending modes. Payloads attached to the RMS will, however, present greater problems in that the bending modes will be hard to predict and will tend to vary with time as the RMS changes in orientation.

Appleby, Brent D.↗
NASA NTRS1986

Telerobotic assembly of space station truss structure

Discussed are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRNS); (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, Grahme↗
NASA NTRS1987

Design, construction, and utilization of a space station assembled from 5-meter erectable struts

The primary characteristics of the 5-meter erectable truss is presented, which was baselined for the Space Station. The relatively large 5-meter truss dimension was chosen to provide a deep beam for high bending stiffness yet provide convenient mounting locations for space shuttle cargo bay size payloads which are approx. 14.5 ft (4.4 m) in diameter. Truss nodes and quick attachment erectable joints are described which provide for evolutionary three dimensional growth and for simple maintenance and repair. A mobile remote manipulator system is described which is provided to assist in station construction and maintenance. A discussion is also presented of the construction of the Space Station and the associated extravehicular active (EVA) time.

Mikulas, Martin M., Jr.↗
NASA NTRS1987

AKM capture device

In an effort to recover the Westar and Palapa satellites and the considerable investment each represented, NASA and Hughes undertook the Satellite Retrieval Mission. The mechanism used to capture each of the errant satellites was the AKM (Apogee Kick Motor) Capture Device (ACD), also referred to as the Stinger. The ACD had three interface requirements: interface with the Manned Maneuvering Unit (MMU) for transportation to and stabilization of the spacecrafts; interface with each satellite for retrieval; and finally, interface with the Shuttle's Remote Manipulator System (RMS or robot arm) for satellite transport back to the Orbiter's payload bay. The majority of the design requirements were associated with the capture and release of the satellites. In addition to these unique requirements, the general EVA, RMS grapple, and RMS manipulation requirements applied. These requirements included thermal, glare, snag, RMS runaway and crewman safety considerations.

Harwell, William D.↗
NASA NTRS1986

Japanese experiment module (JEM)

Japanese hardware elements studied during the definition phase of phase B are described. The hardware is called JEM (Japanese Experiment Module) and will be attached to the Space Station core. JEM consists of a pressurized module, an exposed facility, a scientific/equipment airlock, a local remote manipulator, and experimental logistic module. With all those hardware elements JEM will accommodate general scientific and technology development research (some of the elements are to utilize the advantage of the microgravity environment), and also accommodate control panels for the Space Station Mobile Remote Manipulator System and attached payloads.

Kato, T.↗
NASA NTRS1986

The evolution of automation and robotics in manned spaceflight

The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

Moser, T. L.↗
NASA NTRS1986

Measurements of plasma parameters in the vicinity of the Space Shuttle

A Langmuir probe flown as part of the Plasma Diagnostics Package aboard the third Space Shuttle flight was used to determine electron densities, temperatures, and plasma potential in the vicinity of the Shuttle Orbiter. Measurements taken both in the cargo bay and 10 m above the cargo bay on the Remote Manipulator System arm are consistent with small satellite and laboratory results, in that reduced densities and elevated temperatures are observed in the Shuttle wake. The primary difference in the Shuttle measurements is one of magnitude; i.e., orders-of-magnitude density decreases and factor-of-five temperature enhancements. Analysis of data taken in (Delta N)/N turbulence can be as high as a few percent, and the most intense turbulence seems to occur near regions with a steep gradient in plasma pressure.

Murphy, G.↗
NASA NTRS1987

Manned spacecraft automation and robotics

The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

Erickson, Jon D.↗
NASA NTRS1986

Predictive momentum management for a space station measurement and computation requirements

An analysis is made of the effects of errors and uncertainties in the predicting of disturbance torques on the peak momentum buildup on a space station. Models of the disturbance torques acting on a space station in low Earth orbit are presented, to estimate how accurately they can be predicted. An analysis of the torque and momentum buildup about the pitch axis of the Dual Keel space station configuration is formulated, and a derivation of the Average Torque Equilibrium Attitude (ATEA) is presented, for the case of no MRMS (Mobile Remote Manipulation System) motion, Y vehicle axis MRMS motion, and Z vehicle axis MRMS motion. Results showed the peak momentum buildup to be approximately 20000 N-m-s and to be relatively insensitive to errors in the predicting torque models, for Z axis motion of the MRMS was found to vary significantly with model errors, but not exceed a value of approximately 15000 N-m-s for the Y axis MRMS motion with 1 deg attitude hold error. Minimum peak disturbance momentum was found not to occur at the ATEA angle, but at a slightly smaller angle. However, this minimum peak momentum attitude was found to produce significant disturbance momentum at the end of the predicting time interval.

Adams, John Carl↗
NASA NTRS1988

Personnel occupied woven envelope robot

The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Wessling, Francis↗
NASA NTRS1988

Orbiter environment at S- and Ku-band frequencies

Detailed measurements of the electric field strength associated with the Ku-band radar and S-band communication link were made by the Plasma Diagnostics Package (PDP) on STS 51F. These measurements were made while the PDP was attached to the Remote Manipulation System arm and again while the PDP was released as a subsatellite. The results indicate that cargo elements that remain inside of the scan limits of the radar should experience fields less than 2 V/m and that elements that may encounter the main beam can use 300 V/m as a design guideline with adequate safety margin. S-band fields tended to be several dB lower than worst-case predictions. Safe design practice indicates that an electric field E = 100/r (r in meters) should be used as a guideline for deployable systems. S-band electric fields within the cargo bay envelope should be less than 2 V/m even with edge diffraction effects and reflections from other payloads taken into account. The absolute accuracy of these measurements is about 2 dB.

Murphy, G. B.↗
NASA NTRS1988

On the expansion of ionospheric plasma into the near-wake of the Space Shuttle Orbiter

During the Spacelab 2 mission, while the Plasma Diagnostics Package was attached to the Remote Manipulator System, differential ion vector measurements were obtained in the near wake at a distance of 4-5 Shuttle radii. The Orbiter's wake was found to fill in at a much faster rate than can be explained by simple thermal motion. The measurements strongly suggest that filling of the Orbiter's wake is produced by the process of 'collisionless plasma expansion into a vacuum' and that, for oblique angles of the magnetic field and velocity vectors, the near wake plasma depletion a few radii downstream is not sensitive to the body scale size.

Stone, N. H.↗
NASA NTRS1988

Magnetic attachment mechanism

A magnetic attachment mechanism adapted for interfacing with the manipulator arm of a remote manipulator system and comprising a pair of permanent magnets of rare earth material are arranged in a stator-rotor relationship. The rotor magnet is journalled for rotation about its longitudinal axis between pole plates of the stator magnet, each of which includes an adhering surface. In a first rotary position corresponding to the ON condition, each of the poles of the rotor magnet is closely adjacent to a stator magnet pole plate of like polarity whereby the respective magnet fields are additive for producing a strong magnetic field emanating from the adhering surfaces for attracting a ferrous magnetic plate, or the like, affixed to the payload. When the rotor magnet is rotated to a second position corresponding to the OFF condition, each of the poles of the rotor magnet is disposed closely adjacent to a pole plate of unlike polarity whereby the magnetic fields of the magnets are in cancelling relationship at the adhering surfaces, which permits the release of a payload. An actuator for selectively rotating the rotor magnet between the ON and OFF positions is provided for interfacing and connecting the magnetic attachment mechanism with a manipulator arm. For affecting an optimal rigidized attachment the payload is provided with guide means cooperable with guide means on the housing of the mechanism for directing adhering surfaces of the polar plates to the ferrous plate.

Wu, Mitchell B.↗
NASA NTRS1988

Local position control: A new concept for control of manipulators

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Kelly, Frederick A.↗
NASA NTRS1989

Model evaluation, recommendation and prioritizing of future work for the manipulator emulator testbed

The Manipulator Emulator Testbed (MET) is to provide a facility capable of hosting the simulation of various manipulator configurations to support concept studies, evaluation, and other engineering development activities. Specifically, the testbed is intended to support development of the Space Station Remote Manipulator System (SSRMS) and related systems. The objective of this study is to evaluate the math models developed for the MET simulation of a manipulator's rigid body dynamics and the servo systems for each of the driven manipulator joints. Specifically, the math models are examined with regard to their amenability to pipeline and parallel processing. Based on this evaluation and the project objectives, a set of prioritized recommendations are offered for future work.

Kelly, Frederick A.↗
NASA NTRS1987

Telerobotic assembly of space station truss structures

Discussed here are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRMS); and (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, G.↗
NASA NTRS1987

Task-level testing of the JPL-OMV smart end effector

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

Hannaford, B.↗