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All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

Source record↗
NASA NTRS2004

High Altitude Long Endurance Remotely Operated Aircraft - National Airspace System Integration - Simulation IPT: Detailed Airspace Operations Simulation Plan. Version 1.0

The primary goal of Access 5 is to allow safe, reliable and routine operations of High Altitude-Long Endurance Remotely Operated Aircraft (HALE ROAs) within the National Airspace System (NAS). Step 1 of Access 5 addresses the policies, procedures, technologies and implementation issues of introducing such operations into the NAS above pressure altitude 40,000 ft (Flight Level 400 or FL400). Routine HALE ROA activity within the NAS represents a potentially significant change to the tasks and concerns of NAS users, service providers and other stakeholders. Due to the complexity of the NAS, and the importance of maintaining current high levels of safety in the NAS, any significant changes must be thoroughly evaluated prior to implementation. The Access 5 community has been tasked with performing this detailed evaluation of routine HALE-ROA activities in the NAS, and providing to key NAS stakeholders a set of recommended policies and procedures to achieve this goal. Extensive simulation, in concert with a directed flight demonstration program are intended to provide the required supporting evidence that these recommendations are based on sound methods and offer a clear roadmap to achieving safe, reliable and routine HALE ROA operations in the NAS. Through coordination with NAS service providers and policy makers, and with significant input from HALE-ROA manufacturers, operators and pilots, this document presents the detailed simulation plan for Step 1 of Access 5. A brief background of the Access 5 project will be presented with focus on Steps 1 and 2, concerning HALE-ROA operations above FL400 and FL180 respectively. An overview of project management structure follows with particular emphasis on the role of the Simulation IPT and its relationships to other project entities. This discussion will include a description of work packages assigned to the Simulation IPT, and present the specific goals to be achieved for each simulation work package, along with the associated deliverables necessary to achieve these goals and the needs of other Access 5 IPTs. The simulation environment chosen for this task is then outlined. This section includes a description of the system architecture, a list of the necessary assumptions made by the Simulation IPT, and the roles, responsibilities and interactions of simulation participants. The method of simulation conduct is presented in the next section with particular emphasis on scenario development and applicability to evaluation of Step 1 HALE-ROA operations. Following, data collection and analysis methods are discussed for air traffic specialists and air vehicle control station operators. Lastly, a schedule of Step 1 simulation activities is presented for reference.

Source record↗
NASA NTRS2005

JSC Pharmacy Services for Remote Operations

The Johnson Space Center Pharmacy began operating in March of 2003. The pharmacy serves in two main capacities: to directly provide medications and services in support of the medical clinics at the Johnson Space Center, physician travel kits for NASA flight surgeon staff, and remote operations, such as the clinics in Devon Island, Star City and Moscow; and indirectly provide medications and services for the International Space Station and Space Shuttle medical kits. Process changes that occurred and continued to evolve in the advent of the installation of the new JSC Pharmacy, and the process of stocking medications for each of these aforementioned areas will be discussed. Methods: The incorporation of pharmacy involvement to provide services for remote operations and supplying medical kits was evaluated. The first step was to review the current processes and work the JSC Pharmacy into the existing system. The second step was to provide medications to these areas. Considerations for the timeline of expiring medications for shipment are reviewed with each request. The third step was the development of a process to provide accountability for the medications. Results: The JSC Pharmacy utilizes a pharmacy management system to document all medications leaving the pharmacy. Challenges inherent to providing medications to remote areas were encountered. A process has been designed to incorporate usage into the electronic medical record upon return of the information from these remote areas. This is an evolving program and several areas have been identified for further improvement.

Stoner, Paul S.↗
NASA NTRS2009

Hydrogen Fuel System Design Trades for High-Altitude Long-Endurance Remotely- Operated Aircraft

Preliminary design trades are presented for liquid hydrogen fuel systems for remotely-operated, high-altitude aircraft that accommodate three different propulsion options: internal combustion engines, and electric motors powered by either polymer electrolyte membrane fuel cells or solid oxide fuel cells. Mission goal is sustained cruise at 60,000 ft altitude, with duration-aloft a key parameter. The subject aircraft specifies an engine power of 143 to 148 hp, gross liftoff weight of 9270 to 9450 lb, payload of 440 lb, and a hydrogen fuel capacity of 2650 to 2755 lb stored in two spherical tanks (8.5 ft inside diameter), each with a dry mass goal of 316 lb. Hydrogen schematics for all three propulsion options are provided. Each employs vacuum-jacketed tanks with multilayer insulation, augmented with a helium pressurant system, and using electric motor driven hydrogen pumps. The most significant schematic differences involve the heat exchangers and hydrogen reclamation equipment. Heat balances indicate that mission durations of 10 to 16 days appear achievable. The dry mass for the hydrogen system is estimated to be 1900 lb, including 645 lb for each tank. This tank mass is roughly twice that of the advanced tanks assumed in the initial conceptual vehicle. Control strategies are not addressed, nor are procedures for filling and draining the tanks.

Millis, Marc G.↗
NASA NTRSDate not supplied

A Preliminary Development of The Intelligent Change Detection System (ICDS): Using Machine Learning to Combat Change Blindness in Remote Operation Environments

The emergence of Advance Air Mobility (AAM) will increase the number and types of aerial vehicles operating in shared airspaces, which will subsequently affect the amount of actionable data that ground control station operators (GCSOs) will be expected to manage. In this environment, GCSOs are particularly susceptible to the visual perceptual phenomenon known as change blindness, in which a stimulus undergoes a change without the change being noticed by its observer. A machine agent designed to detect change blindness and mitigate the effects could improve human agent performance in a data-saturated remote operations environment. The objective of this paper is to describe a proof-of-concept system architecture that integrates real-time eye tracking and vehicle telemetry data to prevent human-agent errors resulting from change blindness while operating aircraft from a remote ground control station (GCS).

Real-Time Streaming Data Architecture↗
NASA NTRSDate not supplied

A Preliminary Development of The Intelligent Change Detection System (ICDS): Using Machine Learning to Combat Change Blindness in Remote Operation Environments

The emergence of Advance Air Mobility (AAM) will increase the number and types of aerial vehicles operating in shared airspaces, which will subsequently affect the amount of actionable data that ground control station operators (GCSOs) will be expected to manage. In this environment, GCSOs are particularly susceptible to the visual perceptual phenomenon known as change blindness, in which a stimulus undergoes a change without the change being noticed by its observer. A machine agent designed to detect change blindness and mitigate the effects could improve human agent performance in a data-saturated remote operations environment. The objective of this paper is to describe a proof-of-concept system architecture that integrates real-time eye tracking and vehicle telemetry data to prevent human-agent errors resulting from change blindness while operating aircraft from a remote ground control station (GCS).

Real-Time Streaming Data Architecture↗
NASA NTRS2021

Commanding Curiosity from the Couch: MSL Remote Operations, Challenges, and Path Ahead

This paper describes how the Mars ScienceLaboratory (MSL) project prepared for and successfully beganCuriosity rover Mars operations from their homes in responseto the COVID-19 work-from-home orders. In a very shortperiod, the team developed procedures and executed a remoteoperations readiness test in parallel with the team's support fornominal operations. Continuing regular rover operations withan entirely remote team had not previously been consideredfeasible due to a variety of factors. These included both thehuman factors, such as multiple concurrent person-to-personinteractions of the uplink planning team, as well as technicalfactors, such as reliance on powerful workstations dedicated tographically intensive software tools used for planning. The testwas conducted on March 12th, with both the downlink anduplink teams successfully simulating a near full planning day.The JPL administration announced the transition to mandatorytelework on Monday, March 16th. MSL stood down the uplinkplanning originally scheduled for the next day while downlinkcontinued monitoring the rover. Full operations then resumedper schedule with nearly the entire operations team teleworkingon Friday, March 20th, during which the team planned roveractivities for three Martian days (sols). These activities includedthe successful drilling of the "Edinburgh" rock target, a highlycomplex contact science activity.As of October 1st, 2020, the Mars Science Laboratory missionoperations team has conducted 88 remote tactical uplink shiftsfor a total of 190 sols of planned rover activity, which accountsfor more than 6% of the mission to date. In this period the roverhas completed four drilling campaigns and driven over 1150meters towards its next major science target – a sulfate bearinggeologic unit at the foot of Mount Sharp. Success has not beenwithout its challenges. Many of these have been addressed whileothers will remain in some form until the team can safely returnto JPL, which in turn is the largest challenge for the future.

Stroupe, Ashley↗
NASA NTRS2024

Remote Science at Sea With Remotely Operated Vehicles

Conducting sea-going ocean science no longer needs to be limited to the number of berths on a ship given that telecommunications, computing, and networking technologies onboard ships have become familiar mechanisms for expanding scientists’ reach from onshore. The oceanographic community routinely works with remotely operated vehicles (ROVs) and pilots to access real-time video and data from the deep sea, while onboard a ship. The extension of using an ROV and its host vessel’s live-streaming capabilities has been popularized for almost 3 decades as a telepresence technology. Telepresence-enabled vessels with ROVs have been employed for science, education, and outreach, giving a greater number of communities viewing access to ocean science. However, the slower development of technologies and social processes enabling sustained real-time involvement between scientists on-ship and onshore undermines the potential for broader access, which limits the possibility of increasing inclusivity and discoveries through a diversity of knowledge and capabilities. This article reviews ocean scientists’ use of telepresence for ROV-based deep-sea research and funded studies of telepresence capabilities. The authors summarize these studies findings and conditions that lead to defining the use of telepresence-enabled vessels for “remote science at sea.” Authors define remote science at sea as a type of ocean expedition, an additional capability, not a replacement for all practices by which scientists conduct ocean research. Remote science for ocean research is an expedition at-sea directed by a distributed science team working together from at least two locations (on-ship and onshore) to complete their science objectives for which primary data is acquired by robotic technologies, with connectivity supported by a high-bandwidth satellite and the telepresence-enabled ship’s technologies to support the science team actively engaged before, during, and after dives across worksites. The growth of productive ocean expeditions with remote science is met with social, technical, and logistical challenges that impede the ability of remote scientists to succeed. In this article, authors review telepresence-enabled ocean science, define and situate the adjoined model of remote science at sea, and some infrastructural, technological and social considerations for conducting and further developing remote science at sea.

marine technology↗
NASA NTRS1994

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

Stevens, H. D.↗
NASA NTRS2001

Interpretation of Observations of Trans-Spectral Phenomena Acquired Using Hyperspectral Sensors Aboard a Remotely Operated Vehicle in Exuma Sound

Hyper-spectral (512-channel) optical data acquired during a relatively deep (102m) dive of our ROSEBUD Remotely Operated Vehicle (ROV) in the clear waters of Exuma Sound, Bahamas provided the opportunity to investigate the trans-spectral shift of photonic energy (inelastic scattering) as a function of water depth. Results show a convolution of several spectral processes (e.g. absorption, scattering) involving water molecules, dissolved material and particulates as well as trans-spectral (inelastic) processes involving fluorescence by water molecules (Raman), dissolved material and chlorophyll. The spectral signatures of these convolved causes and effects allow deconvolution with a hyperspectral approach. Intrinsic to the convolution was the ability to position the vehicle at depths where Raman fluorescence dominated at red wavelengths. Results show that the calculated Raman absorption coefficients are generally consistent with historical values (i.e. 0.9 x 10(sup)-4 at 525 nm excitation) and that an angstrom exponent of 5 is more appropriate than the often cited value of 4.

Costello, D.↗
NASA NTRS2009

Compositional Verification of a Communication Protocol for a Remotely Operated Vehicle

This paper presents the specification and verification in the Prototype Verification System (PVS) of a protocol intended to facilitate communication in an experimental remotely operated vehicle used by NASA researchers. The protocol is defined as a stack-layered com- position of simpler protocols. It can be seen as the vertical composition of protocol layers, where each layer performs input and output message processing, and the horizontal composition of different processes concurrently inhabiting the same layer, where each process satisfies a distinct requirement. It is formally proven that the protocol components satisfy certain delivery guarantees. Compositional techniques are used to prove these guarantees also hold in the composed system. Although the protocol itself is not novel, the methodology employed in its verification extends existing techniques by automating the tedious and usually cumbersome part of the proof, thereby making the iterative design process of protocols feasible.

Goodloe, Alwyn E.↗
NASA NTRS1965

Remotely operated clamping tool has positive grip

Jaw-type clamping tool inserts or removes objects in a hazardous environment. It has a strong, positive gripping force which is remotely operated by means of a wedge-screw mechanism.

Aducci, S. A.↗
NASA NTRS1992

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Shelton, Robert O.↗
NASA NTRS1993

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Kahn, Jon B.↗
NASA NTRS2005

Remotely Operated Aircraft (ROA) Impact on the National Airspace System (NAS) Work Package: Automation Impacts of ROA's in the NAS

The purpose of this document is to analyze the impact of Remotely Operated Aircraft (ROA) operations on current and planned Air Traffic Control (ATC) automation systems in the En Route, Terminal, and Traffic Flow Management domains. The operational aspects of ROA flight, while similar, are not entirely identical to their manned counterparts and may not have been considered within the time-horizons of the automation tools. This analysis was performed to determine if flight characteristics of ROAs would be compatible with current and future NAS automation tools. Improvements to existing systems / processes are recommended that would give Air Traffic Controllers an indication that a particular aircraft is an ROA and modifications to IFR flight plan processing algorithms and / or designation of airspace where an ROA will be operating for long periods of time.

Source record↗
NASA NTRS2010

Moments of Inertia - Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Haro, Helida C.↗