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At least 703 records · Page 39

Innovative Robot Archetypes for In-Space Construction and Maintenance

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Rehnmark, Fredrik↗

The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment

The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.

Francoeur, J. R.↗

Robotic External Leak Locator (RELL) Leak Plume Field Detection on the International Space Station (ISS)

The Robotic External Leak Locator (RELL) was deployed to the International Space Station (ISS) with the objective of demonstrating the ability to detect and locate small leaks. On-orbit operations began in late November 2016 and following scanning activities to characterize the natural and induced environment of the ISS, RELL focused on the United States External Active Thermal Control System (EATCS). RELL successfully detected ammonia related to a known small ammonia leak in the port-side EATCS, with the highest pressure values around the inboard Radiator Beam Valve Module 1 (RBVM 1). An additional day of scanning was subsequently performed in December 2017 to focus on RBVM 1. RELL was approved for additional external operations in February 2017 with the goal of fine tuning the location of the leak. Using grid scanning patterns, RELL detected ammonia around RBVM 1 and located the approximate source of the leak. The potential leak site was inspected by a crew member during an Extravehicular Activity (EVA) in March 2017, and the suspected radiator-side lines were isolated from the port-side EATCS coolant loop in April 2017. Subsequent monitoring of the system pressures showed that the leak has stopped, indicating RELL accurately located the source of the EATCS leak. These activities verify that RELL enhances the ISS Program's ability to not only locate small leaks, but isolate the source with minimal impact to the entire ISS system.

External Active Thermal Control System↗

CubeSat Payloads on NASA’s Space Launch System Pave the Way for Artemis Moon Missions

Preparing for first launch in 2021, NASA’s Space Launch System (SLS) super heavy-lift launch vehicle will usher in a new era of human spaceflight, returning astronauts to the Moon as part of the Artemis program. Although designed to send crew in the Orion spacecraft and large payloads to the Moon and beyond, SLS also provides CubeSats with rideshare opportunities for missions to deep space. The first launch of SLS and Orion, Artemis I, has 13 6U CubeSats manifested. The payloads have been tested and will soon ship to Kennedy Space Center (KSC) to be integrated into commercial off-the-shelf (COTS) dispensers and integrated into the SLS Block 1 vehicle. Leveraging launches for the Artemis program to deploy rideshare smallsats to deep space provides a low-cost opportunity to perform missions that previously would have required a larger spacecraft and a dedicated launch, and offers additional benefits to both NASA and the smallsat community. CubeSats, including those manifested on the Artemis I flight, have a valuable role to play in the Artemis program, providing data to address NASA’s identified Strategic Knowledge Gaps (SKGs) in its plans to permanently establish humanity in deep space. Payload sponsors and developers for the Artemis I CubeSats hail from a variety of NASA industry partners and mission directorates, as well as international space agencies and universities. Several payloads destined for cislunar space will demonstrate propulsion systems and other technologies useful to future exploration. Science missions manifested on the Artemis I flight include characterizing the effects of deep space radiation on living organisms, searching for hydrogen and other volatiles on the Moon’s South Pole, and studying the lunar radiation environment. Three of the payloads were selected through NASA’s Centennial Challenges Program. Those payloads are competing for prize money while meeting specific technical development goals, such as communication with Earth from millions of miles in space. Student involvement in almost half of the Artemis I payload development allows STEM engagement with SLS and NASA’s Artemis program. As the initial vehicle to fly, the SLS Block 1 vehicle will lay the foundation for a generation of human and robotic deep space exploration missions. The Block 1 core stage is undergoing final testing at Stennis Space Center in 2020 before transportation to KSC for integration and launch in 2021. Following the Block 1 vehicle, the Block 1B and Block 2 vehicles will incorporate propulsion system upgrades and other changes to increase lift capability. In addition to sending the Orion vehicle to TLI, SLS can also be outfitted with large-diameter fairings to send robotic probes to deep space. With unparalleled lift, volume and departure energy, SLS is poised to usher in a new generation of spaceflight. In addition to launching Orion and large-volume missions, CubeSats may also be a part of Artemis missions to deep space.

Kimberly Robinson↗

A study of space-rated connectors using a robot end-effector

The main research activities have been directed toward the study of the Robot Operated Materials Processing System (ROMPS), developed at GSFC under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The research activities can be divided into two phases. Phase 1 dealt with testing of ROMPS robot mechanical interfaces and compliant device using a Stewart Platform testbed and Phase 2 with computer simulation study of the ROMPS robot control system. This report provides a summary of the results obtained in Phase 1 and Phase 2.

Nguyen, Charles C.↗

Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

Myers, Dale↗

NASA's Space Launch System: Positioning Assets for Tele-Robotic Operations

The National Aeronautics and Space Administration (NASA) is designing and developing America's most capable launch vehicle to support high-priority human and scientific exploration beyond Earth's orbit. The Space Launch System (SLS) will initially lift 70 metric tons (t) on its first flights, slated to begin in 2017, and will be evolved after 2021 to a full 130-t capability-larger than the Saturn V Moon rocket. This superior lift and associated volume capacity will support game-changing exploration in regions that were previously unattainable, being too costly and risky to reach. On the International Space Station, astronauts are training for long-duration missions to asteroids and cis-martian regions, but have not had transportation out of Earth's orbit - until now. Simultaneously, productive rovers are sending scientists - and space fans - unprecedented information about the composition and history of Mars, the planet thought to be most like Earth. This combination of experience and information is laying the foundation for future missions, such as those outlined in NASA's "Mars Next Decade" report, that will rely on te1e-robotic operations to take exploration to the next level. Within this paradigm, NASA's Space Launch System stands ready to manifest the unique payloads that will be required for mission success. Ultimately, the ability to position assets - ranging from orbiters, to landers, to communication satellites and surface systems - is a critical step in broadening the reach of technological innovation that will benefit all Earth's people as the Space Age unfolds. This briefing will provide an overview of how the Space Launch System will support delivery of elements for tele-robotic operations at destinations such as the Moon and Mars, which will synchronize the human-machine interface to deliver hybrid on-orbit capabilities. Ultimately, telerobotic operations will open entirely new vistas and the doors of discovery. NASA's Space Launch System will be a safe, affordable, and sustainable platform for these purposes and more.

May, Todd A.↗

A Petri net controller for distributed hierarchical systems

The solutions to a wide variety of problems are often best organized as a distributed hierarchical system. These systems can be graphically and mathematically modeled through the use of Petri nets, which can easily represent synchronous, asynchronous, and concurrent operations. This thesis presents a controller implementation based on Petri nets and a design methodology for the interconnection of distributed Petri nets. Two case studies are presented in which the controller operates a physical system, the Center for Intelligent Robotic Systems for Space Exploration Dual Arm Robotic Testbed.

Peck, Joseph E.↗

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Crew time in space is precious – every hour could yield immense scientific discoveries and exploration milestones. However, overhead tasks such as logistics, maintenance, and assembly take a large portion of crew time. Remotely operated robotics capabilities offer a way to free the crew from many overhead tasks, but operating mobile dexterous robots in human-centered environments presents many unknowns and challenges for potential technology providers, limiting adoption for flight missions. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation to space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular (IVA) environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of integrated technologies for missions requiring remote space robotics operations.

iMETRO↗

Safety Ellipse Motion with Coarse Sun Angle Optimization

The Hubble Space Telescope Robotic Servicing and De-orbit Mission (HRSDM) was t o be performed by the unmanned Hubble Robotic Vehicle (HRV) consisting of a Deorbit Module (DM), responsible for the ultimate disposal of Hubble Space Telescope (HST) at the end of science operations, and an Ejection Module (EM), responsible for robotically servicing the HST to extend its useful operational lifetime. HRSDM consisted of eight distinct phases, including: launch, pursuit, proximity operations, capture, servicing, EM jettison and disposal, science operations, and deorbit. The scope of this paper is limited to the Proximity Operations phase of HRSDM. It introduces a relative motion strategy useful for Autonomous Rendezvous and Docking (AR&D) or Formation Flying missions where safe circumnavigation trajectories, or close proximity operations (tens or hundreds of meters) are required for extended periods of time. Parameters and algorithms used to model the relative motion of HRV with respect to HST during the Proximity Operations phase of the HRSDM are described. Specifically, the Safety Ellipse (SE) concept, convenient parameters for describing SE motion, and a concept for initializing SE motion around a target vehicle to coarsely optimize sun and relative navigation sensor angles are presented. The effects of solar incidence angle variations on sun angle optimization, and the effects of orbital perturbations and navigation uncertainty on long term SE motion are discussed.

Naasz, Bo↗

Concept for a Large Scalable Space Telescope: In-Space Assembly

We present a conceptual design for a scalable (10-50 meter segmented filled-aperture) space observatory operating at UV-optical-near infrared wavelengths. This telescope is designed for assembly in space by robots, astronauts or a combination of the two, as envisioned in NASA s Vision for Space Exploration. Our operations concept for this-space telescope provides for assembly and check-out in an Earth Moon L2 (EML2) orbit, and transport to a Sun-Earth L2 (SEL2) orbit for science operations and routine servicing, with return to EML2 for major servicing. We have developed and analyzed initial designs for the optical, structural, thermal and attitude control systems for a 30-m aperture space telescope. We further describe how the separate components are packaged for launch by heavy lift vehicle(s) and the approach for the robot assembly of the telescope from these components.

Oegerle, W. R.↗

Envisioning a 21st Century, National, Spacecraft Servicing and Protection Infrastructure and Demand Potential: A Logical Development of the Earth Orbit Economy

The modern world is extremely dependent on thin strings of several hundred civil, military, and commercial spacecraft/satellites currently stationed in space. They provide a steady stream of commerce, defense, and knowledge data. This dependency will in all likelihood increase significantly during this century. A major disruption of any kind in these essential systems and networks could be socially, economically, and politically catastrophic, on a global scale. The development of a space-based, robotic services economy could be useful in mitigating this growing risk, from an efficiency and security standpoint. This paper attempts to suggest what makes sense to invest in next for the logical, economic development of Earth orbit i.e., after ISS completion. It expands on the results of an advanced market research and analysis study that sampled the opinions of several satellite industry executives and presents these results within a broad policy context. The concept of a spacecraft carrier that serves as the nucleus of a national, space-based or on-orbit, robotic services infrastructure is introduced as the next logical step for United States leadership in space. This is viewed as a reasonable and appropriate followon to the development of ELVs and satellites in the 1950s and 1960s, the Space Shuttle/PRLV in the 1970s and 1980s, and the International Space Station (ISS) in the 1980s, 1990s and 2000s. Large-scale experience in LEO-to-GEO spacecraft/satellite servicing and protection by robotic means is assumed to be an indispensable prerequisite or stepping-stone toward the development and preservation of the large scientific exploration facilities that are envisioned by NASA for operation beyond GEO. A balanced, return on national investment (RONI) strategy for space, focused on the provision of enhanced national/homeland security for increased protection, national economic/industrial expansion for increased revenue, and national scientific exploration for increased knowledge is recommended as the next strong, irrepressible goal toward realizing and achieving the official NASA vision and mission.

Horsham, Gary A.↗

Astrobee Robot Software: A Modern Software System for Space

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.

Astrobee↗

Human-Robot Site Survey and Sampling for Space Exploration

NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

Fong, Terrence↗

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

During the Hubble Robotic Servicing Mission, the Hubble Space Telescope (HST) attitude and rates are necessary to achieve the capture of HST by the Hubble Robotic Vehicle (HRV). The attitude and rates must be determined without the HST gyros or HST attitude estimates. The HRV will be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is based on more traditional Extended Kalman filter techniques. Simulation test results for both methods are given.

Thienel, Julie K.↗