Robotic Assembly Activities at NASA Langley Research Center
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Life Testing of the Vapor Compression Distillation/Urine Processing Assembly (VCD/UPA) at the Marshall Space Flight Center (1993 to 1997)
Wastewater and urine generated on the International Space Station will be processed to recover pure water using vapor compression distillation (VCD). To verify the long-term reliability and performance of the VCD Urine Processor Assembly (UPA), life testing was performed at the Marshall Space Flight Center (MSFC) from January 1993 to April 1996. Two UPA'S, the VCD-5 and VCD-5A, were tested for 204 days and 665 days, respectively. The compressor gears and the distillation centrifuge drive belt were found to have operating lives of approximately 4,800 hours, equivalent to 3.9 years of operation on ISS for a crew of three at an average processing rate of 1.76 kg/h (3.97 lb/h). Precise alignment of the flex-splines of the fluids and purge pump motor drives is essential to avoid premature failure after about 400 hours of operation. Results indicate that, with some design and procedural modifications and suitable quality control, the required performance and operational life can be met with the VCD/UPA.
Wieland, P.↗
Large space telescope, phase A. Volume 3: Optical telescope assembly
The development and characteristics of the optical telescope assembly for the Large Space Telescope are discussed. The systems considerations are based on mission-related parameters and optical equipment requirements. Information is included on: (1) structural design and analysis, (2) thermal design, (3) stabilization and control, (4) alignment, focus, and figure control, (5) electronic subsystem, and (6) scientific instrument design.
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Robot Forearm and Dexterous Hand
An electromechanical hand-and-forearm assembly has been developed for incorporation into an anthropomorphic robot that would be used in outer space. The assembly is designed to offer manual dexterity comparable to that of a hand inside an astronaut s suit; thus, the assembly may also be useful as a prosthesis or as an end effector on an industrial robot.
Lovchik, Christopher S.↗
Space Test and Operations Port for Exploration Missions
The International Space Station (ISS) has from its inception included plans to support the testing of exploration vehicle/systems technology, the assembly of space transport vehicles, and a variety of operations support (communications, crew transfer, cargo handling, etc). Despite the fact that the ISS has gone through several re-designs and reductions in size and capabilities over the past 20 years, it still has the key capabilities, truss structure, docking nodes, etc required to support these exploration mission activities. ISS is much like a frontier outpost in the Old West, which may not have been in optimum location (orbit) for assisting travelers on their way to California (the Moon and Mars), but nevertheless because it had supplies and other support services (regular logistics from Earth, crewmembers, robotics, and technology test and assembly support capabilities) was regularly used as a stopover and next trip phase preparation site by all kinds of travelers. This paper will describe some of the ISS capabilities which are being used currently, and are being planned for use, by various payload sponsors, developers and Principal Investigators, sponsored by the NASA Office of Space Flight (Code M ISS Research Program Office - Department of Defense (DoD), NASA Hqs Office of Space Communications, Italian Space Agency, etc.). Initial ideas and concepts for payloads and technology testing which are being planned, or which are being investigated, for use in support of advanced space technology development and verification and exploration mission activities will be summarized. Some of the future ISS payloads and test activities already identified include materials and system component space environment testing, laser space communication system demonstrations (leading to the possible development of an ISS deep space communication node), and an advanced space propulsion testbed and ISS based, free-flying platform.
Holt, Alan C.↗
ACCESS (Assembly Concept for Construction of Erectable Space Structure) - A Shuttle flight experiment
ACCESS is a planned Shuttle flight experiment to assess the potential of an on-orbit construction concept designed for efficient manual assembly of a space truss. The experiment, which is scheduled for launch November 27, 1985, on the Space Transportation System (STS) flight 61-B, uses two astronauts secured in fixed foot restraints located in the Shuttle cargo bay to assemble a 45-foot long aluminum truss beam from 93 tubular struts and 33 nodal joints. Neutral buoyancy simulations of the flight experiment indicate the truss can be assembled in less than thirty minutes. Structural assembly, structural repair, flexible cable attachment and manual manipulation of the truss is also planned for the experiment using an astronaut secured in the Manipulator Foot Restraint attached to the Remote Manipulator System arm. Flight assembly data will be generated for correlation of the neutral buoyancy ground test data. This paper describes the ACCESS flight experiment and presents results of the neutral buoyancy development and training tests.
Heard, W. L., Jr.↗
Space solar power - An available energy source
The development of satellite solar power stations is described with attention given to station design and assembly in space. Problems associated with conversion of solar energy into microwaves and with getting the station into orbit are considered. The use of a solar propulsion system for pushing the station to high orbit is discussed along with questions of station lifetime (estimated to be about thirty years). The paper is copiously illustrated with drawings projecting various aspects of station design and utilization.
Ferdman, S.↗
Design and Applications of Tethered Spacecraft Simulators
Small, tethered spacecraft, or space tugs, are a promising space capability. They can be deployed on tethers and used for a wide variety of in-space activities; a large portion of which fall under in-space servicing, assembly, manufacturing (ISAM) functions. This includes functions such as structural mating and assembly, servicing, proximity operations, capture, docking, mating, and relocation. However, there is a great deal of work to be done to raise the Technology Readiness Level (TRL) of the capabilities needed to fully realize these capabilities. The Flat Floor Robotics Lab (FFRL) at NASA’s Marshall Spaceflight Center (MSFC) has been working on space tug development for several years. The eponymous floor is 44 by 86 feet, made from a self-leveling epoxy. This creates an extremely smooth surface that air bearings can float on with very little friction, creating a simulation of zero gravity in a two-dimensional plane. The lab has several platforms of various sizes that act as vehicle simulators for testing sensors, control algorithms, mechanisms, etc. One of these platforms is a small spacecraft simulator, which can be tethered to simulate a space tug. In the last several months, the FFRL team has been working with MSFC’s welding group to conduct a laser beam welding demonstration on air bearing platforms. This demo is utilizing a space tug simulator to fly up to a floating weld platform, where two parts are clamped together and laser welded. The space tug simulator has an air bearing to provide float, as well as several actuated air thrusters to provide propulsion and make the simulator maneuverable. Currently, flights of this simulator are completed by a human operator. An RF hand controller sends signals to both actuate and fire three sets of thrusters on the simulator. This makes any maneuvers of the space tug highly subject to human error, and operators must have dedicated practice time before being able to perform maneuvers with any sufficient reliability. For the current laser welding demonstration, human operated performance is sufficient, but future implementations of in-space welding and other ISAM efforts will require higher precision, reliability, and autonomy. MSFC has funded a project that will allow a small team in the FFRL to develop the next generation of space tug simulator, which will be automated. Closed loop control will allow a user to command a position, or set of positions, that the simulator will be able to “fly” to on its own. This Maneuverable Automated Tethered Spacecraft (MATS) simulator will have configurable design, to allow a variety of payloads and mission configurations to be demonstrated on the air bearing floor. This will be an invaluable test bed for low and mid TRL advancement for space tether mission subsystems, such as more advanced demonstrations of in-space welding. Once one MATSS is constructed and demonstrated effectively, several more can be built, enabling more advanced tether missions; Electric Sail test beds, sensor arrays, and other science-enabling missions. This paper will detail the design and test of the FFRL’s MATS simulator, including efforts to establish closed loop control and autonomous capabilities. It will also detail use cases for this technology, and how it will further develop both develop science and exploration missions.
Space Tethers↗
Definition status of the U.S. Space Station system
The configuration, design, and capabilities of the Space Station are briefly reviewed. In particular, attention is given to the truss structure, photovoltaic and solar dynamic power generation systems, pressurized habitation and laboratory modules, and provisions for extravehicular activity. The discussion covers the Space Station assembly sequence, and the main elements of the power, communication, environmental, and life support systems of the Space Station.
Craig, M. K.↗
Some test/analysis issues for the space station structural characterization experiment
The Space Station Structural Characterization Experiment (SSSCE) 1,2 is an early space flight experiment that uses the space station as a generic structure to study the dynamic characteristics of Large Space Structures (LSS). On-orbit modal testing will be conducted to determine natural frequencies, mode shapes and damping of dominant structural modes of the space structure assembly. This experiment will utimately support the development of system identification and analytical modeling techniques for Large Space Structures. In order to ensure the success of SSSCE (in-space validation of modeling techniques for LSS), adequate measurement and instrumentation requirements have to be established during the experiment-definition study. Among the issues affecting these requirements, spatial and modal coverages of the modal test data are of particular interest. Topics such as total number of sensors, type of measurements (translation and rotation), optimal sensor locations (measurement degrees-of-freedom), selection of target modes, effects of modal superposition and truncation, separation of global and local modes, etc., are all a fundamental importance and must be investigated.
Chou, Chaur-Ming↗
International Space Station Carbon Dioxide Removal Assembly (ISS CDRA) Concepts and Advancements
An important aspect of air revitalization for life support in spacecraft is the removal of carbon dioxide from cabin air. Several types of carbon dioxide removal systems are in use in spacecraft life support. These systems rely on various removal techniques that employ different architectures and media for scrubbing CO2, such as permeable membranes, liquid amine, adsorbents, and absorbents. Sorbent systems have been used since the first manned missions. The current state of key technology is the existing International Space Station (ISS) Carbon Dioxide Removal Assembly (CDRA), a system that selectively removes carbon dioxide from the cabin atmosphere. The CDRA system was launched aboard UF-2 in February 2001 and resides in the U.S. Destiny Laboratory module. During the past four years, the CDRA system has operated with varying degrees of success. There have been several approaches to troubleshooting the CDRA system aimed at developing work-around solutions that would minimize the impact on astronaut time required to implement interim solutions. The paper discusses some of the short-term fixes applied to promote hardware life and restore functionality, as well as long-term plans and solutions for improving operability and reliability. The CDRA is a critical piece of life support equipment in the air revitalization system of the ISS, and is demonstrated technology that may ultimately prove well-suited for use in lunar or Mars base, and Mars transit life support applications.
ElSherif, Dina↗
High-pressure protective systems technology
Space suit assemblies developed in the past provide candidate concepts to meet future extravehicular-activity requirements. The paper is concerned with the development of the modular 8-psi Ames AX-3 high-pressure suit assembly on the basis of a review of existing suit assemblies, component developments, and mobility exercises. The discussion covers description of the AX-3 suit, its performance, and technology developments. In conclusion, high-pressure space suit technology is demonstrated with the development of the Ames AX-3 suit assembly. Several photographs and diagrams supplement the text.
Vykukal, H. C.↗
Life Testing of the Vapor Compression Distillation Urine Processing Assembly (VCD/UPA) at the Marshall Space Flight Center
Wastewater and urine generated on the International Space Station will be processed to recover pure water. The method selected is vapor compression distillation (VCD). To verify the long-term reliability and performance of the VCD Urine Processing Assembly (UPA), accelerated life testing was performed at the Marshall Space Flight Center (MSFC) from January 1993 to April 1996. Two UPAS, the VCD-5 and VCD-5A, were tested for 204 days and 665 days, respectively. The compressor gears and the distillation centrifuge drive belt were found to have an operating life of approximately 4800 hours. Precise alignment of the flex-spline of the fluids pump is essential to avoid failure of the pump after about 400 hours of operation. Also, leakage around the seals of the drive shaft of the fluids pump and purge pump must be eliminated for continued good performance. Results indicate that, with some design and procedural modifications and suitable quality control, the required performance and operational life can be met with the VCD/UPA.
Wieland, Paul O.↗
A Virtual Reality Planning Environment for High-Risk, High-Latency Teleoperation
In-Space Servicing, Assembly, and Manufacturing has the potential to enable larger-scale and longer-lived infrastructure projects in space. Servicing in particular has the potential to vastly increase the usable lifetimes of satellites, both newly launched and existing. However, some of these servicing tasks require delicate manipulation and, to apply to existing satellites, need to be able to operate on structures that were not designed for servicing and, in some cases, where the exact shape of the structure is not known in advance. For this reason, human-in-the-loop ground-based teleoperation is the only option for some missions. Ground-based teleoperation presents its own difficulties. In addition to the challenge of performing delicate operations in constrained spaces, communication with the servicing platform is subject to a variable time delay on the order of 2-7 seconds, and the only visual feedback comes from camera views with limited situational awareness and viewing angles.
Teleoperation↗
Pathfinder: Surface exploration, in-space operations and space transfer
Viewgraphs on the Pathfinder program are presented. Information is given on technology needs, a planetary rover, program management, an autonomous lander, mission applications, orbital assembly, cryogenics, space nuclear reactors, space manufacturing, optical communications, spacecraft propulsion, aerobraking, and orbital transfer vehicles.
Mankins, John↗
Space Station thermal control system evolution
The thermal control system (TCS) for the space station assembly complete configuration includes a two-phase central thermal bus with a supplemental body mounted radiator system. Evolution of the space station from a heat rejection capacity of 75 kW to 300 kW will require scars to expand the thermal fluid distribution network, equipment replacement to enable greater thermal transport capacity, and enlargement of the heat rejection subsystem for increased heat rejection. The TCS requirements for assembly completion and growth are presented along with a review of the basic structure of the active and passive thermal control systems which include provisions for growth.
Bullock, Richard L.↗
Synthesizing realistic sand assemblies with denoising diffusion in latent space
Abstract The shapes and morphological features of grains in sand assemblies have far‐reaching implications in many engineering applications, such as geotechnical engineering, computer animations, petroleum engineering, and concentrated solar power. Yet, our understanding of the influence of grain geometries on macroscopic response is often only qualitative, due to the limited availability of high‐quality 3D grain geometry data. In this paper, we introduce a denoising diffusion algorithm that uses a set of point clouds collected from the surface of individual sand grains to generate grains in the latent space. By employing a point cloud autoencoder, the three‐dimensional point cloud structures of sand grains are first encoded into a lower‐dimensional latent space. A generative denoising diffusion probabilistic model is trained to produce synthetic sand that maximizes the log‐likelihood of the generated samples belonging to the original data distribution measured by a Kullback‐Leibler divergence. Numerical experiments suggest that the proposed method is capable of generating realistic grains with morphology, shapes and sizes consistent with the training data inferred from an F50 sand database. We then use a rigid contact dynamic simulator to pour the synthetic sand in a confined volume to form granular assemblies in a static equilibrium state with targeted distribution properties. To ensure third‐party validation, 50,000 synthetic sand grains and the 1542 real synchrotron microcomputed tomography (SMT) scans of the F50 sand, as well as the granular assemblies composed of synthetic sand grains are made available in an open‐source repository.
Vlassis, Nikolaos N.↗