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The proceedings of the 27th Aerospace Mechanisms Symposium, which was held at ARC, Moffett Field, California, on 12-14 May 1993, are reported. Technological areas covered include the following: actuators, aerospace mechanism applications for ground support equipment, lubricants, latches, connectors, robotic mechanisms, and other mechanisms for large space structures.
In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.
The Ranger program at the Space Systems Laboratory (SSL) at the University of Maryland is a demonstration of an extremely low cost, space flight experiment. The Ranger vehicle is designed to perform teleoperated spacecraft maintenance. Completing the various tasks included in spacecraft maintenance requires several specific tools. This paper describes the Ranger interchangeable end effector mechanism (IEEM). Its design allows Ranger to change end effectors to utilize the appropriate tool for the various tasks. The Ranger vehicle is designed with four manipulators. A seven degree-of-freedom (DOF) grappling manipulator securely attaches the vehicle to the work site. A 6 DOF camera positioning manipulator allows the operator to position a stereo pair of video cameras for visual feedback. The two remaining manipulators are the 7 DOF dexterous arms. They are the primary means by which Ranger accomplishes its required tasks. At the end of each of these dexterous manipulators is an IEEM. This paper begins with a brief overview of the Space Systems Laboratory and the Ranger program. The constraints leading to the requirements for an IEEM are described. The following section then describes the design strategies and the down selection process resulting in two candidate designs, taper and pneumatic connector type. Next, the leading candidate design is described in detail, followed by a preliminary discussion of failure modes and planned testing. The paper concludes with a brief review and a section discussing future work.
Development of flight prototype, fiber-optic sensing system components for measuring nine sensed parameters (three temperatures, two speeds, three positions, and one flame) on an F404-400 aircraft engine is described. Details of each sensor's design, functionality, and environmental testing, and the electro-optics architecture for sensor signal conditioning are presented. Eight different optical sensing techniques were utilized. Design, assembly, and environmental testing of an engine-mounted, electro-optics chassis unit (EOU), providing MIL-C-1553 data output, are related. Interconnection cables and connectors between the EOU and the sensors are identified. Results of sensor/cable/circuitry integrated testing, and installation and ground testing of the sensor system on an engine in October 1993 and April 1994 are given, including comparisons with the engine control system's electrical sensors. Lessons learned about the design, fabrication, testing, and integration of the sensor system components are included.
The NASA Lewis Research Center conducted a workshop on fiber optic technology on October 18-20, 1994. The workshop objective was to discuss the future direction of fiber optics and optical sensor research, especially in the aerospace arena. The workshop was separated into four sections: (1) a Systems Section which dealt specifically with top level overall architectures for the aircraft and engine; (2) a Subsystems Section considered the parts and pieces that made up the subsystems of the overall systems; (3) a Sensor/Actuators section considered the status of research on passive optical sensors and optical powered actuators; and (4) Components Section which addressed the interconnects for the optical systems (e.g., optical connectors, optical fibers, etc.). This report contains the minutes of the discussion on the workshop, both in each section and in the plenary sessions. The slides used by a limited number of presenters are also included as presented. No attempt was made to homogenize this report. The view of most of the attendees was: (1) the government must do a better job of disseminating technical information in a more timely fashion; (2) enough work has been done on the components, and system level architecture definition must dictate what work should be done on components; (3) a Photonics Steering Committee should be formed to coordinate the efforts of government and industry in the photonics area, to make sure that programs complimented each other and that technology transferred from one program was used in other programs to the best advantage of the government and industry.
Tool attached to prosthetic hand or arm enables user to hold nails, screws, nuts, rivets, and other small ferromagnetic objects on small magnetic tip. Device adjusted to hold nail or screw at proper angle for hammering or for use of screwdriver, respectively. Includes base connector with threaded outer surface and lower male member inserted in standard spring-action, quick-connect/quick-disconnect wrist adapter on prosthetic hand or arm.
Fixture based on T-connector enables mass-spectrometric analysis of volatile contents of cylindrical containers without exposing contents to ambient conditions. Used to sample volatile contents of pressurized containers, contents of such enclosed processing systems as gas-phase reactors, gases in automotive emission systems, and gas in hostile environments.
This paper reviews the status of the Laser Diode Ignition (LDI) program at Sandia National Labs. One watt laser diodes have been characterized for use with a single explosive actuator. Extensive measurements of the effect of electrostatic discharge (ESD) pulses on the laser diode optical output have been made. Characterization of optical fiber and connectors over temperature has been done. Multiple laser diodes have been packaged to ignite multiple explosive devices and an eight element laser diode array has been recently tested by igniting eight explosive devices at predetermined 100 ms intervals.
One of the most efficient methods for protecting electro-explosive devices (EED's) from HERO and ESD is to shield the EED in a conducting shell (Faraday cage). Electrical energy is transferred to the bridge by means of a magnetic coupling which passes through a portion of the conducting shell that is made from a magnetically permeable but electrically conducting material. This technique was perfected by ML Aviation, a U.K. company, in the early 80's, and was called a Radio Frequency Attenuation Connector (RFAC). It is now in wide use in the U.K. Previously, the disadvantage of RFAC over more conventional methods was its relatively high cost, largely driven by a thick film hybrid circuit used to switch the primary of the transformer. Recently, through a licensing agreement, this technology has been transferred to the U.S. and significant cost reductions and performance improvements have been achieved by the introduction of analog integrated circuits. An integrated circuit performs the following functions: (1) Chops the DC input to a signal suitable for driving the primary of the transformer; (2) Verifies the input voltage is above a threshold; (3) Verifies the input voltage is valid for a pre set time before enabling the device; (4) Provides thermal protection of the circuit; and (5) Provides an external input for independent logic level enabling of the power transfer mechanism. This paper describes the new RFAC product and its applications.
Performance of the Tethered Satellite System (TSS) Deployer during the STS-46 mission (July and August 1992) is analyzed in terms of hardware operation at the component and system level. Although only a limited deployment of the satellite was achieved (256 meters vs 20 kilometers planned), the mission served to verify the basic capability of the Deployer to release, control and retrieve a tethered satellite. - Deployer operational flexibility that was demonstrated during the flight is also addressed. Martin Marietta was the prime contractor for the development of the Deployer, under management of the NASA George C. Marshall Space Flight Center (MSFC). The satellite was provided by Alenia, Torino, Italy under contract to the Agencia Spaziale Italiana (ASI). Proper operation of the avionics components and the majority of mechanisms was observed during the flight. System operations driven by control laws for the deployment and retrieval of the satellite were also successful for the limited deployment distance. Anomalies included separation problems for one of the two umbilical connectors between the Deployer and satellite, tether jamming (at initial Satellite fly-away and at a deployment distance of 224 meters), and a mechanical interference which prevented tether deployment beyond 256 meters. The Deployer was used in several off-nominal conditions to respond to these anomalies, which ultimately enabled a successful satellite retrieval and preservation of hardware integrity for a future re-flight. The paper begins with an introduction defining the significance of the TSS-1 mission. The body of the paper is divided into four major sections: (1) Description of Deployer System and Components, (2) Deployer Components/Systems Demonstrating Successful Operation, (3) Hardware Anomalies and Operational Responses, and (4) Design Modifications for the TSS-1R Re-flight Mission. Conclusions from the TSS-1 mission, including lessons learned are presented at the end of the manuscript.
Installed fibers such as those at the Kennedy Space Center (KSC) are optimized for use at 1310 nm because they have zero dispersion at that wavelength. An installed fiber system designed to operate at 1310 nm will operate at a much lower data rate when operated at 1550 nm because the dispersion is not zero at 1550 nm. Using dispersion measurements of both installed and dispersion compensating fibers, we compensated a 21.04 km length of installed fiber with 4.25 km of dispersion compensating fiber. Using the compensated fiber-optic link, we reduced the dispersion to 0.494 ps/nm-km, from an uncompensated dispersion of 16.8 ps/nm-km. The main disadvantage of the compensated link using DC fiber was an increase in attenuation. Although the increase was not necessarily severe, it could be significant when insertion losses, connector losses, and fiber attenuation are taken into account.
Two Flight Model AMSU-A Phase Locked Oscillators (P/N 1348360-1, S/Ns F03 and F04) have been tested per AES Test Procedure AE-26758. The tests included vibration testing, thermal cycle testing, AM/FM Noise testing, and full functional testing. EMI/REO 2 Testing was not performed. (See test data for S/N F01). Both AMSU-A Phase Locked Oscillators satisfactorily passed all performance requirements of the AE-26633 Product specification. During thermal cycling of PLO serial number F03, the oven and data logger momentarily lost power, including a loss of data. The unit did not experience any thermal stress. TAR 003134 describes the corrective action. Prior to testing PLO serial number FO4, power was applied to the unit. (+15v,-15v) the unit did not display the proper phase lock. Upon test equipment check out a connector was found to be defective. TAR 003133 describes the corrective action. After completion of testing of PLO serial number F04 was installed into Receiver Assembly F02. Upon testing F02 Receiver Assembly the unit was found not to phase lock at ambient temperature. Removal of PLO Assembly F04 was required. R2 was the real issue. Solithane was secondary. Troubleshooting revealed excessive solithane on inner PLL Assembly cover inhibiting optimum grounding. Also, R2 was reselected which increased the lock range from -30 C to +60 C. TAR 002737 describes the corrective action.
The design requirements for the water treatment systems aboard the International Space Station (ISS) include and require recycling as much water as possible and to treat the water for intentional contamination (hygiene, urine distillate, condensate, etc.) and unintentional contamination in the form of biofilm and microorganisms. As part of an effort to address the latter issue, a biofilm system was developed by Marshall Space Flight Center (MSFC) to simulate the conditions aboard ISS with respect to materials, flow rates, water conditions, water content, and handling. The tubing, connectors, sensors, and fabricated parts included in the system were chosen for specific attributes as applicable to emulate an orbital water treatment system. This paper addresses the design and development process of the system, as well as the configuration, operation, and system procedures for maintenance to assure that the simulation is valid for the representative data as it applies to water degradation and biofilm/microbial growth. Preliminary biofilm/microbial results are also presented.
NASA/ Marshall Space Flight Center (NASA/MSFC) is responsible for the design and fabrication of a Portable Fan Assembly (PFA) for the International Space Station (ISS). The PFA will be used to enhance ventilation inside the ISS modules as needed for crew comfort and for rack rotation. The PFA consists of the fan on-orbit replaceable unit (ORU) and two noise suppression packages (silencers). The fan ORU will have a mechanical interface with the Seat Track Equipment Anchor Assembly, in addition to the power supply module which includes a DC-DC converter, on/standby switch, speed control, power cable and connector. This paper provides a brief development history, including the criteria used for the fan, and a detailed description of the PFA operational configurations. Space Station requirements as well as fan performance characteristics are also discussed.
We have demonstrated a high power intermodulation measurement set-up capable of delivering 30 W in each of two fundamental tones. For closely spaced frequencies (less than 35 MHz), the dynamic range of the measurement is limited by the nonlinear performance of the mixer in the front end of the HP71210C spectrum analyzer. A tunable TE(sub 011) mode copper cavity was fabricated in which one of the endwalls could be adjusted shifting its resonant frequency between 5.7 and 6.6 GHz. Since the Q-value of this cavity is high, greater than 10(exp 4), and its bandwidth is small, less than 1 MHz, it can be used to attenuate the two fundamental tones relative to one of the harmonic tones, which greatly enhances the dynamic range of the measurement. This set-up can be used to measure the two-tone intermodulation distortion of any passive microwave device, e.g. a HTS filter, a connector, a cable, etc., over a frequency range of 5.9 to 6.4 GHz and a power range of 0.1 to 30 W. The third order intercept (TOI) of a prototype HTS filter measured at powers up to 30 W was +81.3 dBm.
Construction of the International Space Station (ISS) will require extensive extravehicular activity (EVA, spacewalks), and estimates of the actual time needed continue to rise. As recently as September, 1996, the amount of time to be spent in EVA was believed to be about 400 hours, excluding spacewalks on the Russian segment. This estimate has recently risen to over 1100 hours, and it could go higher before assembly begins in the summer of 1998. These activities are extremely expensive and hazardous, so any design tools which help assure mission success and improve the efficiency of the astronaut in task completion can pay off in reduced design and EVA costs and increased astronaut safety. The tasks which astronauts can accomplish in EVA are limited by spacesuit mobility. They are therefore relatively simple, from an ergonomic standpoint, requiring gross movements rather than time motor skills. The actual tasks include driving bolts, mating and demating electric and fluid connectors, and actuating levers; the important characteristics to be considered in design improvement include the ability of the astronaut to see and reach the item to be manipulated and the clearance required to accomplish the manipulation. This makes the tasks amenable to simulation in a Computer-Assisted Design (CAD) environment. For EVA, the spacesuited astronaut must have his or her feet attached on a work platform called a foot restraint to obtain a purchase against which work forces may be actuated. An important component of the design is therefore the proper placement of foot restraints.
The difficulty of accomplishing work in extravehicular activity (EVA) is well documented. It arises as a result of motion constraints imposed by a pressurized spacesuit in a near-vacuum and of the frictionless environment induced in microgravity. The appropriate placement of foot restraints is crucial to ensuring that astronauts can remove and drive bolts, mate and demate connectors, and actuate levers. The location on structural members of the foot restraint sockets, to which the portable foot restraint is attached, must provide for an orientation of the restraint that affords the astronaut adequate visual and reach envelopes. Previously, the initial location of these sockets was dependent upon the experienced designer's ability to estimate placement. The design was tested in a simulated zero-gravity environment; spacesuited astronauts performed the tasks with mockups while submerged in water. Crew evaluation of the tasks based on these designs often indicated the bolt or other structure to which force needed to be applied was not within an acceptable work envelope, resulting in redesign. The development of improved methods for location of crew aids prior to testing would result in savings to the design effort for EVA hardware. Such an effort to streamline EVA design is especially relevant to International Space Station construction and maintenance. Assembly operations alone are expected to require in excess of four hundred hours of EVA. Thus, techniques which conserve design resources for assembly missions can have significant impact. We describe an effort to implement a human modelling application in the design effort for an International Space Station Assembly Mission. On Assembly Flight 6A, the Canadian-built Space Station Remote Manipulator System will be delivered to the U.S. Laboratory. It will be released from its launch restraints by astronauts in EVA. The design of the placement of foot restraint sockets was carried out using the human model Jack, and the modelling results were compared with actual underwater test results. The predicted locations of the sockets was found to be acceptable for 94% of the tasks attempted by the astronauts, This effort provides confidence in the capabilities of this package to accurately model tasks. It therefore increases assurance that the tool maybe used early in the design process.
The need to make manufacturing, operation, and support of airborne vehicles safer and more efficient forces engineers and scientists to look for lighter, cheaper, more reliable technologies. Light weight, immunity to EMI, fire safety, high bandwidth, and high signal fidelity have already made photonics in general and fiber optics in particular an extremely attractive medium for communication purposes. With the fiber optics serving as a central nervous system of the vehicle, generation, detection, and processing of the signal occurs at the peripherals that include smart structures and devices. Due to their interdisciplinary nature, photonic technologies cover such diverse areas as optical sensors and actuators, embedded and distributed sensors, sensing schemes and architectures, harnesses and connectors, signal processing and algorithms. The paper includes a brief description of work in the photonic area that is going on at NASA, especially at the Glenn Research Center (GRC).