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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Grasping objects autonomously in simulated KC-135 zero-g

The KC-135 aircraft was chosen for simulated zero gravity testing of the Extravehicular Activity Helper/retriever (EVAHR). A software simulation of the EVAHR hardware, KC-135 flight dynamics, collision detection and grasp inpact dynamics has been developed to integrate and test the EVAHR software prior to flight testing on the KC-135. The EVAHR software will perform target pose estimation, tracking, and motion estimation for rigid, freely rotating, polyhedral objects. Manipulator grasp planning and trajectory control software has also been developed to grasp targets while avoiding collisions.

Norsworthy, Robert S.↗
NASA NTRS2000

Anatomic patterning in the expression of vestibulosympathetic reflexes

To investigate the possibility that expression of vestibulosympathetic reflexes (VSR) is related to a nerve's anatomic location rather than its target organ, we compared VSR recorded from the same type of postganglionic fiber [muscle vasoconstrictor (MVC)] located at three different rostrocaudal levels: hindlimb, forelimb, and face. Experiments were performed on chloralose-anesthetized cats, and vestibular afferents were stimulated electrically. Single MVC unit activity was extracted by spike shape analysis of few-fiber recordings, and unit discrimination was confirmed by autocorrelation. Poststimulus time histogram analysis revealed that about half of the neurons were initially inhibited by vestibular stimulation (type 1 response), whereas the other MVC fibers were initially strongly excited (type 2 response). MVC units with types 1 and 2 responses were present in the same nerve fascicle. Barosensitivity was equivalent in the two groups, but fibers showing type 1 responses fired significantly faster than those giving type 2 responses (0.29 +/- 0.04 vs. 0.20 +/- 0.02 Hz). Nerve fibers with type 1 responses were most common in the hindlimb (21 of 29 units) and least common in the face (2 of 11 units), the difference in relative proportion being significant (P < 0.05, chi(2) test). These results support the hypothesis that VSR are anatomically patterned.

Non-NASA Center↗
NASA NTRS2007

Gaining Confidence in Navigating Rosetta at Mars Swing-By

The Mars swing-by in the early morning of the 25th of February 2007 was one of the most critical events the Rosetta mission has experienced so far on its way to the comet Churyumov-Gerasimenko. The closest approach took place at a distance of only 250 km from the planet s surface. Missing the optimal target would have translated into considerable fuel cost. In order to achieve confidence in operating through this highly critical mission phase, a navigation analysis exercise was carried out beforehand. This paper describes the purpose and the chosen approach for this preparatory Flight Dynamics activity. It presents and discusses results of the analysis. Emphasis is put on the question of what is needed to simulate a valuable data set representative for operations. The results of the navigation analysis are compared with real data obtained during swing-by operations.

Crammn, Ruediger↗
NASA NTRS2008

Evolution of the Lunar Network

The National Aeronautics and Space Administration (NASA) is planning to upgrade its network Infrastructure to support missions for the 21st century. The first step is to increase the data rate provided to science missions to at least the 100 megabits per second (Mbps) range. This is under way, using Ka-band 26 Gigahertz (GHz), erecting an 18-meter antenna for the Lunar Reconnaissance Orbiter (LRO), and the planned upgrade of the Deep Space Network (DSN) 34-meter network to support the James Webb Space Telescope (JWST). The next step is the support of manned missions to the Moon and beyond. Establishing an outpost with several activities such as rovers, colonization, and observatories, is better achieved by using a network configuration rather than the current method of point-to-point communication. Another challenge associated with the Moon is communication coverage with the Earth. The Moon's South Pole, targeted for human habitat and exploration, is obscured from Earth view for half of the 28-day lunar cycle and requires the use of lunar relay satellites to provide coverage when there is no direct view of the Earth. The future NASA and Constellation network architecture is described in the Space Communications Architecture Working Group (SCAWG) Report. The Space Communications and Navigation (SCAN) Constellation Integration Project (SCIP) is responsible for coordinating Constellation requirements and has assigned the responsibility for implementing these requirements to the existing NASA communication providers: DSN, Space Network (SN), Ground Network (GN) and the NASA Integrated Services Network (NISN). The SCAWG Report provides a future architecture but does not provide implementation details. The architecture calls for a Netcentric system, using hundreds of 12-meter antennas, a ground antenna array, and a relay network around the Moon. The report did not use cost as a variable in determining the feasibility of this approach. As part of the SCIP Mission Concept Review and the second iteration of the Lunar Architecture Team (LAT), the focus is on cost, as well as communication coverage using operational scenarios. This approach maximizes use of existing assets and adds capability in small increments. This paper addresses architecture decisions such as the Radio Frequency (RF) signal and network (Netcentric) decisions that need to be made and the difficulty of implementing them into the existing Space Network and DSN. It discusses the evolution of the lunar system and describes its components: Tracking and Data Relay Satellite System (TDRSS), Earth-based ground stations, Lunar Relay, and surface systems.

Gal-Edd, Jonathan↗
NASA NTRS1999

Mars 2001 Lander Mission: Measurement Synergy Through Coordinated Operations Planning And Implementation

The 2001 Mars Surveyor Program Mission includes an orbiter with a gamma ray spectrometer and a multispectral thermal imager, and a lander with an extensive set of instrumentation, a robotic arm, and the Marie Curie Rover. The Mars 2001 Science Operations Working Group (SOWG) is a subgroup of the Project Science Group that has been formed to provide coordinated planning and implementation of scientific observations, particularly for the landed portion of the mission. The SOWG will be responsible for delivery of a science plan and, during operations, generation and delivery of conflict-free sequences. This group will also develop an archive plan that is compliant with Planetary Data System (PDS) standards, and will oversee generation, validation, and delivery of integrated archives to the PDS. In this report we cover one element of the SOWG planning activities, the development of a plan that maximizes the scientific return from lander-based observations by treating the instrument packages as an integrated payload. Scientific objectives for the lander mission have been defined. They include observations focused on determining the bedrock geology of the site through analyses of rocks and also local materials found in the soils, and the surficial geology of the site, including windblown deposits and the nature and history of formation of indurated sediments such as duricrust. Of particular interest is the identification and quantification of processes related to early warm, wet conditions and the presence of hydrologic or hydrothermal cycles. Determining the nature and origin of duricrust and associated salts is -very important in this regard. Specifically, did these deposits form in the vadose zone as pore water evaporated from soils or did they form by other processes, such as deposition of volcanic aerosols? Basic information needed to address these questions includes the morphology, topography, and geologic context of landforms and materials exposed at the site, together with quantitative information on material mineralogy, chemistry, and physical properties (rock textures; soil grain size and shape distributions; degree and nature of soil induration; soil magnetic properties). The calibration targets provide radiometric and mineralogical control surfaces. The magnets allow observations of magnetic phases. Patch plates are imaged to determine adhesive and abrasive properties of soils. Coordinated mission planning is crucial for optimizing the measurement synergy among the packages included on the lander. This planning has already begun through generation of multi-sol detailed operations activities. One focus has been to develop a scenario to use the arm to dig a soil trench to a depth of tens of centimeters. The activity will be monitored through use of Pancam and RAC to ensure nominal operations and to acquire data to determine subsurface physical properties (e.g., angle of repose of trench walls). Pancam and Mini-TES observations would also provide constraints on mineralogy and texture for the walls and bottom of the trench during excavation. If desired, soils excavated at depth could be deposited on the surface and Mossbauer and APXS measurements could be acquired for these materials. Soil samples from various depths would be delivered to MECA for characterization of aqueous geochemistry and physical properties of soil grains, particularly size, shape, and hardness. These physical properties would be determined by optical and atomic force microscopy. When completed, detailed information of soil properties as a function of depth would be obtained. These various data sets would constrain our understanding of whether or not there are systematic variations in soil characteristics as a function of depth. These variations might be related, for example, to evaporative moisture losses and formation of salt deposits, thereby indicating water transport processes occurred fairly recently. Many other value-added measurement scenarios are being developed. For example, characterizing the nature and dynamics of dust deposition will be done using MIP/DART to provide deposition rates, Pancam and RAC imaging of lander and rover surfaces to extrapolate these measurements to other areas, and a variety of measurements to determine if the bulk loose soil has the same characteristics as dust that accumulates during the mission. Bedrock geology of the site is primarily an APEX-focus setting, mineralogy, and texture, and APXS data to be we interest will be to determine the extent to which rock hydrothermal processes, given that APEX is the precursor 4 and 2005 rover missions. Additional information is contained in the original.

Arvidson, R.↗
NASA NTRS1985

Estimation of biophysical properties of forest canopies through inversion of microwave scatterometer data

A method for estimating the biophysical properties of a forest canopy through inversion of microwave scatterometer data is discussed. A C-band scatterometer flown over an aspen site in northern Minnesota during 19 days from May 2 to October 20, 1984, was modified to enable continuous recording of the range of the target. This provided the backscatter cross section as a function of range and was used to study scattering processes within the canopy. The remote estimates of HH, VV, and HV extinction coefficient values agreed well with the estimates obtained with the use of an active radar calibrator.

Pitts, D. E.↗
NASA NTRS2000

Failure Accommodation Tested in Magnetic Suspension Systems for Rotating Machinery

The NASA Glenn Research Center at Lewis Field and Texas A&M University are developing techniques for accommodating certain types of failures in magnetic suspension systems used in rotating machinery. In recent years, magnetic bearings have become a viable alternative to rolling element bearings for many applications. For example, industrial machinery such as machine tool spindles and turbomolecular pumps can today be bought off the shelf with magnetically supported rotating components. Nova Gas Transmission Ltd. has large gas compressors in Canada that have been running flawlessly for years on magnetic bearings. To help mature this technology and quiet concerns over the reliability of magnetic bearings, NASA researchers have been investigating ways of making the bearing system tolerant to faults. Since the potential benefits from an oil-free, actively controlled bearing system are so attractive, research that is focused on assuring system reliability and safety is justifiable. With support from the Fast Quiet Engine program, Glenn's Structural Mechanics and Dynamics Branch is working to demonstrate fault-tolerant magnetic suspension systems targeted for aerospace engine applications. The Flywheel Energy Storage Program is also helping to fund this research.

Provenza, Andy J.↗
NASA NTRS2010

A Comparison Between Orion Automated and Space Shuttle Rendezvous Techniques

The Orion spacecraft will replace the space shuttle and will be the first human spacecraft since the Apollo program to leave low earth orbit. This vehicle will serve as the cornerstone of a complete space transportation system with a myriad of mission requirements necessitating rendezvous to multiple vehicles in earth orbit, around the moon and eventually beyond . These goals will require a complex and robust vehicle that is, significantly different from both the space shuttle and the command module of the Apollo program. Historically, orbit operations have been accomplished with heavy reliance on ground support and manual crew reconfiguration and monitoring. One major difference with Orion is that automation will be incorporated as a key element of the man-vehicle system. The automated system will consist of software devoted to transitioning between events based on a master timeline. This effectively adds a layer of high level sequencing that moves control of the vehicle from one phase to the next. This type of automated control is not entirely new to spacecraft since the shuttle uses a version of this during ascent and entry operations. During shuttle orbit operations however many of the software modes and hardware switches must be manually configured through the use of printed procedures and instructions voiced from the ground. The goal of the automation scheme on Orion is to extend high level automation to all flight phases. The move towards automation represents a large shift from current space shuttle operations, and so these new systems will be adopted gradually via various safeguards. These include features such as authority-to-proceed, manual down modes, and functional inhibits. This paper describes the contrast between the manual and ground approach of the space shuttle and the proposed automation of the Orion vehicle. I will introduce typical orbit operations that are common to all rendezvous missions and go on to describe the current Orion automation architecture and contrast it with shuttle rendezvous techniques and circumstances. The shuttle rendezvous profile is timed to take approximately 3 days from orbit insertion to docking at the International Space Station (ISS). This process can be divided into 3 phases: far-field, mid-field and proximity operations. The far-field stage is characterized as the most quiescent phase. The spacecraft is usually too far to navigate using relative sensors and uses the Inertial Measurement Units (IMU s) to numerically solve for its position. The maneuvers are infrequent, roughly twice per day, and are larger than other burns in the profile. The shuttle uses this opportunity to take extensive ground based radar updates and keep high fidelity orbit states on the ground. This state is then periodically uplinked to the shuttle computers. The targeting solutions for burn maneuvers are also computed on the ground and uplinked. During the burn the crew is responsible for setting the shuttle attitude and configuring the propulsion system for ignition. Again this entire process is manually driven by both crew and ground activity. The only automatic processes that occur are associated with the real-time execution of the burn. The Orion automated functionality will seek to relieve the workload of both the crew and ground during this phase

Ruiz, Jose O,↗
NASA NTRS2012

Development of a Deep-Penetrating, Compact Geothermal Heat Flow System for Robotic Lunar Geophysical Missions

Geothermal heat flow measurements are a high priority for the future lunar geophysical network missions recommended by the latest Decadal Survey of the National Academy. Geothermal heat flow is obtained as a product of two separate measurements of geothermal gradient and thermal conductivity of the regolith/soil interval penetrated by the instrument. The Apollo 15 and 17 astronauts deployed their heat flow probes down to 1.4-m and 2.3-m depths, respectively, using a rotary-percussive drill. However, recent studies show that the heat flow instrument for a lunar mission should be capable of excavating a ~3-m deep hole to avoid the effect of potential long-term changes of the surface thermal environment. For a future robotic geophysical mission, a system that utilizes a rotary/percussive drill would far exceed the limited payload and power capacities of the lander/rover. Therefore, we are currently developing a more compact heat flow system that is capable of 3-m penetration. Because the grains of lunar regolith are cohesive and densely packed, the previously proposed lightweight, internal hammering systems (the so-called moles ) are not likely to achieve the desired deep penetration. The excavation system for our new heat flow instrumentation utilizes a stem which winds out of a pneumatically driven reel and pushes its conical tip into the regolith. Simultaneously, gas jets, emitted from the cone tip, loosen and blow away the soil. Lab tests have demonstrated that this proboscis system has much greater excavation capability than a mole-based heat flow system, while it weighs about the same. Thermal sensors are attached along the stem and at the tip of the penetrating cone. Thermal conductivity is measured at the cone tip with a short (1- to 1.5-cm long) needle sensor containing a resistance temperature detector (RTD) and a heater wire. When it is inserted into the soil, the heater is activated. Thermal conductivity of the soil is obtained from the rate of temperature increase during the heating. By stopping during the excavation, it is possible to measure thermal conductivities at different depths. The gas jets are turned off when the penetrating cone reaches the target depth. Then, the stem pushes the needle sensor into the undisturbed soil at the bottom of the hole and carries out a thermal conductivity measurement. When the measurement is complete, the system resumes excavation. RTDs, placed along the stem at short (approx 30 cm) intervals, will monitor long-term temperature stability of the subsurface. Temperature in the shallow subsurface would fluctuate with the diurnal, annual, and precession cycles of the Moon. These thermal waves penetrate to different depths into the regolith. Longterm monitoring of the subsurface temperature would allow us to accurately delineate these cyclic signals and separate them from the signal associated with the outward flow of the Moon s endogenic heat. Further, temperature toward bottom of the 3-m hole should be fairly stable after the heat generated during the excavation dissipates into the surrounding soil. The geothermal gradient may be determined reliably from temperature measurements at the RTDs near the bottom. In order to minimize the heat conduction along the stem from affecting the geothermal gradient measurements, we plan to use low-conductive materials for the stem and develop a mechanism to achieve close coupling between the RTDs and the wall of the excavated hole.

Nagihara, Seiichi↗
NASA NTRS2012

Self-Nulling Lock-in Detection Electronics for Capacitance Probe Electrometer

A multi-channel electrometer voltmeter that employs self-nulling lock-in detection electronics in conjunction with a mechanical resonator with noncontact voltage sensing electrodes has been developed for space-based measurement of an Internal Electrostatic Discharge Monitor (IESDM). The IESDM is new sensor technology targeted for integration into a Space Environmental Monitor (SEM) subsystem used for the characterization and monitoring of deep dielectric charging on spacecraft. Use of an AC-coupled lock-in amplifier with closed-loop sense-signal nulling via generation of an active guard-driving feedback voltage provides the resolution, accuracy, linearity and stability needed for long-term space-based measurement of the IESDM. This implementation relies on adjusting the feedback voltage to drive the sense current received from the resonator s variable-capacitance-probe voltage transducer to approximately zero, as limited by the signal-to-noise performance of the loop electronics. The magnitude of the sense current is proportional to the difference between the input voltage being measured and the feedback voltage, which matches the input voltage when the sense current is zero. High signal-to-noise-ratio (SNR) is achieved by synchronous detection of the sense signal using the correlated reference signal derived from the oscillator circuit that drives the mechanical resonator. The magnitude of the feedback voltage, while the loop is in a settled state with essentially zero sense current, is an accurate estimate of the input voltage being measured. This technique has many beneficial attributes including immunity to drift, high linearity, high SNR from synchronous detection of a single-frequency carrier selected to avoid potentially noisy 1/f low-frequency spectrum of the signal-chain electronics, and high accuracy provided through the benefits of a driven shield encasing the capacitance- probe transducer and guarded input triaxial lead-in. Measurements obtained from a 2- channel prototype electrometer have demonstrated good accuracy (|error| < 0.2 V) and high stability. Twenty-four-hour tests have been performed with virtually no drift. Additionally, 5,500 repeated one-second measurements of 100 V input were shown to be approximately normally distributed with a standard deviation of 140 mV.

Blaes, Brent R.↗
NASA NTRS2013

Submillimeter Follow-up of Wise-Selected Hyperluminous Galaxies

We have used the Caltech Submillimeter Observatory (CSO) to follow-up a sample of Wide-field Infrared Survey Explorer (WISE) selected, hyperluminous galaxies, the so-called W1W2-dropout galaxies. This is a rare (approximately 1000 all-sky) population of galaxies at high redshift (peaks at zeta = 2-3), which are faint or undetected by WISE at 3.4 and 4.6 micrometers, yet are clearly detected at 12 and 22 micrometers. The optical spectra of most of these galaxies show significant active galactic nucleus activity. We observed 14 high-redshift (zeta greater than 1.7) W1W2-dropout galaxies with SHARC-II at 350-850 micrometers, with nine detections, and observed 18 with Bolocam at 1.1 mm, with five detections. Warm Spitzer follow-up of 25 targets at 3.6 and 4.5 micrometers, as well as optical spectra of 12 targets, are also presented in the paper. Combining WISE data with observations from warm Spitzer and CSO, we constructed their mid-IR to millimeter spectral energy distributions (SEDs). These SEDs have a consistent shape, showing significantly higher mid-IR to submillimeter ratios than other galaxy templates, suggesting a hotter dust temperature.We estimate their dust temperatures to be 60-120 K using a single-temperature model. Their infrared luminosities are well over 10(exp 13) solar luminosity. These SEDs are not well fitted with existing galaxy templates, suggesting they are a new population with very high luminosity and hot dust. They are likely among the most luminous galaxies in the universe.We argue that they are extreme cases of luminous, hot dust-obscured galaxies (DOGs), possibly representing a short evolutionary phase during galaxy merging and evolution. A better understanding of their long-wavelength properties needs ALMA as well as Herschel data.

Wu, Jingwen↗
NASA NTRS2014

The Neutron Star Interior Composition Explorer (NICER)

The Neutron Star Interior Composition Explorer (NICER) is an approved NASA Explorer Mission of Opportunity dedicated to the study of the extraordinary gravitational, electromagnetic, and nuclear‐physics environments embodied by neutron stars. Scheduled to be launched in 2016 as an International Space Station payload, NICER will explore the exotic states of matter, using rotation‐resolved spectroscopy of the thermal and non‐thermal emissions of neutron stars in the soft (0.2‐12 keV) X‐ray band. Grazing‐incidence "concentrator" optics coupled with silicon drift detectors, actively pointed for a full hemisphere of sky coverage, will provide photon‐counting spectroscopy and timing registered to GPS time and position, with high throughput and relatively low background. The NICER project plans to implement a Guest Observer Program, which includes competitively selected user targets after the first year of flight operations. I will describe NICER and discuss ideas for potential Be/X‐ray binary science.

Wilson-Hodge, Colleen A.↗
NASA NTRS2018

EcAMSat: Small Satellite to Examine E. coli's Response in Microgravity to the Antibiotic Gentamicin

We have successfully flown the EcAMSat (Escherichia coli Antimicrobial Satellite) free-flyer mission. This was a 6U small satellite that autonomously conducted an experiment in low Earth orbit to explore the impact of the space environment on antibiotic resistance in uropathogenic E. coli (UPEC) and the role a particular sigma factor plays in the response. After being held in stasis during transport to orbit, two strains†a wildtype UPEC and an isogenic mutant with a deleted gene that encodes a sigma factor†were grown to stationary phase in a fluidic card inside EcAMSat's payload, then incubated with three concentrations of the antibiotic gentamicin. The payload then administered alamarBlue®, a redox indicator, into all wells of the fluidic card. The cells were then incubated for 144 hours and metabolic activity was measured optically using the payloads' LED and detector system. Data were then telemetered to the ground and compared to a control experiment conducted in an identical satellite in a lab. The results of this experiment will help us better understand important therapeutic targets for treating bacterial infections on Earth and in space. Such targets are particularly relevant to deep-space and long-duration missions where crew may be more susceptible to infection and treatments for them may work differently.

antibiotic↗
NASA NTRS1988

Automated generation of spacecraft activity plans

An expert system is described which is currently in place in the ground support system of the Hubble Space Telescope (HST). Known as the Transformation system, it is used to process proposals submitted by the HST's world wide user community, converting the scientific descriptions of the astronomical observations into detailed spacecraft activities which are linked in time. These detailed activities are formatted to be both readable by the telescope operations staff and directly schedulable by the planning and scheduling portion of the ground system. The implementation of the Transformation system is particularly interesting as the system was developed at the same time that its target system (the planning and scheduling system) was being built.

Rosenthal, Donald A.↗
NASA NTRS1989

A prototype autonomous agent for crew and equipment retrieval in space

The ground-based demonstration of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: perception, world model, reasoning, sensing, and acting. The design provides for supervised autonomy as the primary mode of operation with teleoperation as the backup mode. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable operation.

Erickson, J. D.↗
NASA NTRS1991

Observations of Enhanced Radar Backscatter (ERB) from Millstone Hill

Intense enhancements of the incoherent radar backscatter spectrum from the topside ionosphere were observed with the Millstone Hill UHF radar. Enhancements occurring at the local ion acoustic frequency causing large asymmetries in the measured ion line may be produced by current driven instabilities. These enhancements pose a practical problem for space surveillance systems because their cross section and spectral width are characteristic of satellites. Conversely, their hard target signature complicates the study of naturally occurring ERB events; it is nearly impossible to distinguish them from satellites based on a single measurement. Statistical comparisons of observed coherent echo distributions with predictions from a satellite catalog were used to broadly identify periods of ERB activity. A series of experiments using multiple diagnostics, including satellite instruments, for simultaneous observations have established the association of ERB with large fluxes of soft suprathermal electrons carrying field aligned currents. Zenith data are also presented which show the asymmetric growth of ion acoustic waves directly above Millstone Hill. Details of these results are presented.

Lee, M. C.↗
NASA NTRS1991

From orbital debris capture systems through internal combustion engines on Mars

The investigation and conceptualization of an orbital debris collector was the primary area of design. In addition, an alternate structural design for Space Station Freedom and systems supporting resource utilization at Mars and the moon were studied. Hardware for production of oxygen from simulate Mars atmosphere was modified to permit more reliable operation at low pressures (down to 10 mb). An internal combustion engine was altered to study how Mars atmosphere could be used as a diluent to control combustion temperatures and avoid excess Mars propellant production requirements that would result from either methane-rich or oxygen-rich, methane-oxygen combustion. An elastic loop traction system that could be used for lunar construction vehicles was refined to permit testing. A parabolic heat rejection radiator system was designed and built to determine whether it was capable of increasing heat rejection rates during lunar daytime operation. In addition, an alternate space station truss design, utilizing a pre-integrated concept, was studied and found to reduce estimate extravehicular activity (EVA) time and increase the structural integrity when compared to the original Warren truss concept. An orbital-debris-capturing spacecraft design which could be mated with the Orbital Maneuvering Vehicle was studied. The design identified Soviet C-1B boosters as the best targets of opportunity in Earth orbits between an altitude of 900 km and 1100 km and at an inclination of 82.9 deg. A dual robot pallet, which could be spun to match the tumbling rate of the C-1B booster, was developed as the conceptual design.

Source record↗
NASA NTRS1992

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Erickson, J.↗