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At least 109 records · Page 6

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NASA NTRS1980

Recent advances in structural technology for large deployable and erectable spacecraft

Ultra-low mass deployable and erectable truss structure designs for spacecraft are identified using computerized structural sizing techniques. Extremely slender strut proportions are shown to characterize minimum mass spacecraft which are designed for Shuttle transport to orbit. Analytical results are presented which demonstrate discrete element effects using a recently developed buckling theory for periodic lattice type structures. An analysis of fabrication imperfection effects on the surface accuracy of four different antenna reflector structures is summarized. This study shows the tetrahedral truss to have the greatest potential of the structures examined for application to accurate or large reflectors. A deployable module which can be efficiently transported is identified and shown to have significant potential for application to future antenna requirements. Recent investigations of erectable structure assembly are reviewed. Initial experiments simulating astronaut assembly by extra-vehicular activity (EVA) show that a pair of astronauts can achieve assembly times of 2-5 min/strut. Studies indicate that an automated assembler can achieve times of less than 1 min/strut on an around-the-clock basis.

Bush, H. G.↗

NASA NTRS1980

The assembly of large structures in space - An evaluation of hardware configurations and assembly techniques through neutral buoyancy simulation

The implementation of NASA's Space Transportation System (STS) presents the opportunity for the on-orbit assembly of structures which, before the advent of multi-launch missions, were not possible because of their physical size. This report presents the results of an eight-month effort in the investigation of assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in Marshall Space Flight Center's Neutral Buoyancy Simulator. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved.

Loughead, T. E.↗

NASA NTRS1982

Open cherry picker simulation results

The simulation program associated with a key piece of support equipment to be used to service satellites directly from the Shuttle is assessed. The Open Cherry Picker (OCP) is a manned platform mounted at the end of the remote manipulator system (RMS) and is used to enhance extra vehicular activities (EVA). The results of simulations performed on the Grumman Large Amplitude Space Simulator (LASS) and at the JSC Water Immersion Facility are summarized.

Nathan, C. A.↗

NASA NTRS1982

Human factors technology for America's space program

NASA is initiating a space human factors research and technology development program in October 1982. The impetus for this program stems from: the frequent and economical access to space provided by the Shuttle, the advances in control and display hardware/software made possible through the recent explosion in microelectronics technology, heightened interest in a space station, heightened interest by the military in space operations, and the fact that the technology for long duration stay times for man in space has received relatively little attention since the Apollo and Skylab missions. The rationale for and issues in the five thrusts of the new program are described. The main thrusts are: basic methodology, crew station design, ground control/operations, teleoperations and extra vehicular activity.

Montemerlo, M. D.↗

NASA NTRS1984

Status of the National Space Transportation System

The National Space Transportation System is a national resources serving the government, Department of Defense and commercial needs of the USA and others. Four orbital flight tests were completed July 4, 1982, and the first Operational Flight (STS-5) which placed two commercial communications into orbit was conducted November 11, 1982. February 1983 marked the first flight of the newest orbiter, Challenger. Planned firsts in 1983 include: use of higher performance main engines and solid rocket boosters, around-the-clock crew operations, a night landing, extra-vehicular activity, a dedicated DOD mission, and the first flight of a woman crew member. By the end of 1983, five commercial payloads and two tracking and data relay satellites should be deployed and thirty-seven crew members should have made flights aboard the space shuttle.

Abrahamson, J. A.↗

NASA NTRS1985

Thermal design of the ACCESS erectable space truss

Thermal design requirements for the erectable truss beam to be assembled in-orbit during extra-vehicular activity as part of the ACCESS experiment to take place in 1985-1986 are formulated and assessed. The coatings, insulation, and materials chosen for the structural elements of the beam are detailed. A combined radiation and conduction thermal model reveals that worst-case thermal gradients within the ACCESS structure over plane-to-sun angles of 0 to 80 deg will be less than 29 F, which is within the allowable limit of 50 F. The individual strut insulation concept using aluminized Kapton is shown to offer significant advantages over white paint or a chromic acid anodized surface for controlling the thermal response.

Bradley, O. H., Jr.↗

NASA NTRS1986

Improved flexibility of an EVA glove

A student design contest was held between four universities. The project was to improve the flexibility of the NASA extra-vehicular activities (EVA) glove with the internal pressure increased from 4 psi to 8 psi. The Kansas State University team used an experimental design methodology and an industrial management scheme. This approach succeeded in making Kansas State University the winner of the competition.

Eggeman, G. W.↗

NASA NTRS1987

Human factors in space station architecture 2. EVA access facility: A comparative analysis of 4 concepts for on-orbit space suit servicing

Four concepts for on-orbit spacesuit donning, doffing, servicing, check-out, egress and ingress are presented. These are: the Space Transportation System (STS) Type (shuttle system enlarged), the Transit Airlock (Shuttle Airlock with suit servicing removed from the pump-down chamber), the Suitport (a rear-entry suit mates to a port in the airlock wall), and the Crewlock (a small, individual, conformal airlock). Each of these four concepts is compared through a series of seven steps representing a typical Extra Vehicular Activity (EVA) mission: (1) Predonning suit preparation; (2) Portable Life Support System (PLSS) preparation; (3) Suit Donning and Final Check; (4) Egress/Ingress; (5) Mid-EVA rest period; (6) Post-EVA Securing; (7) Non-Routine Maintenance. The different characteristics of each concept are articulated through this step-by-step approach. Recommendations concerning an approach for further evaluations of airlock geometry, anthropometrics, ergonomics, and functional efficiency are made. The key recommendation is that before any particular airlock can be designed, the full range of spacesuit servicing functions must be considered, including timelines that are most supportive of EVA human productivity.

Cohen, Marc M.↗

NASA NTRS1987

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

Mclauchlan, Robert A.↗

NASA NTRS1987

Ames Research Center cryogenics program

Viewgraphs describe the Ames Research Center's cryogenics program. Diagrams are given of a fluid management system, a centrifugal pump, a flow meter, a liquid helium test facility, an extra-vehicular activity coupler concept, a dewar support with passive orbital disconnect, a pulse tube refrigerator, a dilution refrigerator, and an adiabatic demagnetization cooler.

Kittel, Peter↗

NASA NTRS1987

Goal driven kinematic simulation of flexible arm robot for space station missions

Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

Janssen, P.↗

NASA NTRS1987

Traction-drive telerobot for space manipulation

The National Aeronautics and Space Administration (NASA) Space Station Program marks the begining of a new era in space utilization and habitation. Extensive use of remote manipulation and robotics to reduce astronaut extra-vehicular activity is expected. Emphasis on teleoperator technology in early Space Station phases, followed by growth of autonomous robotics capabilities, is planned. A new telerobot concept has been developed at Oak Ridge National Laboratory (ORNL) under NASA Langley Research Center sponsorship, to address the technical needs of both teleoperations and telerobotics for these future NASA programs. The concept is based on traction drives, redundant kinematics, modular construction, and a state-of-the-art distributed, hierarchical control system.

Herndon, J. N.↗

NASA NTRS1988

The superfluid helium on-orbit transfer (SHOOT) flight experiment

The SHOOT flight demonstration is being undertaken to verify component and system level technology necessary to resupply large superfluid helium dewars in space. The baseline configuration uses two identical 210 liter dewars connected by a transfer line which contains a quick disconnect coupling. The helium will be transferred back and forth between the dewars under various conditions of flow rate, parasitic heat load, and temperature. An astronaut Extra-vehicular Activity (EVA) is also planned to manually demate and mate the coupling. A number of components necessary for the flight are being developed. These components are described here.

Dipirro, Michael J.↗

NASA NTRS1988

Space-based multifunctional end effector systems functional requirements and proposed designs

The end effector is an essential element of teleoperator and telerobot systems to be employed in space in the next decade. The report defines functional requirements for end effector systems to perform operations that are currently only feasible through Extra-Vehicular Activity (EVA). Specific tasks and functions that the end effectors must be capable of performing are delineated. Required capabilities for forces and torques, clearances, compliance, and sensing are described, using current EVA requirements as guidelines where feasible. The implications of these functional requirements on the elements of potential end effector systems are discussed. The systems issues that must be considered in the design of space-based manipulator systems are identified; including impacts on subsystems tightly coupled to the end effector, i.e., control station, information processing, manipulator arm, tool and equipment stowage. Possible end effector designs are divided into three categories: single degree-of-freedom end effectors, multiple degree of freedom end effectors, and anthropomorphic hands. Specific design alternatives are suggested and analyzed within the individual categories. Two evaluations are performed: the first considers how well the individual end effectors could substitute for EVA; the second compares how manipulator systems composed of the top performers from the first evaluation would improve the space shuttle Remote Manipulator System (RMS) capabilities. The analysis concludes that the anthropomorphic hand is best-suited for EVA tasks. A left- and right-handed anthropomorphic manipulator arm configuration is suggested as appropriate to be affixed to the RMS, but could also be used as part of the Smart Front End for the Orbital Maneuvering Vehicle (OMV). The technical feasibility of the anthropomorphic hand and its control are demonstrated. An evolutionary development approach is proposed and approximate scheduling provided for implementing the suggested manipulator systems in time for space stations operations in the early 1990s.

Mishkin, A. H.↗

NASA NTRS1989

Control of free-flying space robot manipulator systems

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Cannon, Robert H., Jr.↗

NASA NTRS1989

Astronaut tool development: An orbital replaceable unit-portable handhold

A tool to be used during astronaut Extra-Vehicular Activity (EVA) replacement of spent or defective electrical/electronic component boxes is described. The generation of requirements and design philosophies are detailed, as well as specifics relating to mechanical development, interface verifications, testing, and astronaut feedback. Findings are presented in the form of: (1) a design which is universally applicable to spacecraft component replacement, and (2) guidelines that the designer of orbital replacement units might incorporate to enhance spacecraft on-orbit maintainability and EVA mission safety.

Redmon, John W., Jr.↗

NASA NTRS1987

Telerobotics: Research needs for evolving space stations

It is argued that triplicate planning for telerobotics applicable to space stations is needed. It is important to carry out research to accomplish tasks: (1) with man alone (such as extra-vehicular activities), (2) with autonomous robots, and (3) with telerobotics. The research necessary to carry out these approaches is compared and contrasted in order to clarify present problems.

Stark, L.↗

NASA NTRS1990

Design of a lunar transportation system, volume 2

The Spring 1990 Introduction to Design class was asked to conceptually design second generation lunar vehicles and equipment as a semester design project. A brief summary of four of the final projects, is presented. The designs were to facilitate the transportation of personnel and materials. The eight topics to choose from included flying vehicles, ground based vehicles, robotic arms, and life support systems. A lunar flying vehicle that uses clean propellants for propulsion is examined. A design that will not contribute to the considerable amount of caustic pollution already present in the sparse lunar atmosphere is addressed by way of ballistic flight techniques. A second generation redesign of the current Extra Vehicular Activity (EVA) suit to increase operating time, safety, and efficiency is also addressed. A separate life support system is also designed to be permanently attached to the lunar rover. The two systems would interact through the use of an umbilical cord connection. A ground based vehicle which will travel for greater distances than a 37.5 kilometer radius from a base on the lunar surface was designed. The vehicle is pressurized due to the fact that existing lunar rovers are limited by the EVA suits currently in use. A robotic arm for use at lunar bases or on roving vehicles on the lunar surface was designed. The arm was originally designed as a specimen gathering device, but it can be used for a wide range of tasks through the use of various attachments.

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