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At least 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

The space station assembly phase: Flight telerobotic servicer feasibility, volume 1

The question is addressed which was raised by the Critical Evaluation Task Force (CETF) analysis of the space station: if a Flight Telerobotic Servicer (FTS) of a given technical risk could be built for use during space station assembly, could it save significant extravehicular (EVA) resources. Key issues and trade-offs associated with using an FTS to aid in space station assembly phase tasks such as construction and servicing are identified. A methodology is presented that incorporates assessment of candidate assembly phase tasks, telerobotics performance capabilities, development costs, operational constraints (STS and proximity operations), maintenance, attached payloads, and polar platforms. A discussion of the issues is presented with focus on potential FTS roles: (1) as a research-oriented test bed to learn more about space usage of telerobotics; (2) as a research-based test bed with an experimental demonstration orientation and limited assembly and servicing applications; or (3) as an operational system to augment EVA, to aid the construction of the space station, and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations. During the course of the study, the baseline configuration was modified into Phase 1 (a station assembled in 12 flights), and Phase 2 (a station assembled over a 30 flight period) configuration.

Smith, Jeffrey H.↗
NASA NTRS1988

The space station assembly phase: System design trade-offs for the flight telerobotic servicer

The effects of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems often involves a substitution of automation capabilities for human EVA or IVA activities. A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effects of operational constaints. Changes in the region of cost-effectiveness are examined under a variety of system design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: as a research-oriented test bed to learn more about space usage of telerobotics; as a research based test bed having an experimental demonstration orientation with limited assembly and servicing applications; or as an operational system to augment EVA and to aid construction of the Space Station and to reduce the program (schedule) risk by increasing the flexibility of mission operations.

Smith, Jeffrey H.↗
NASA NTRS1987

Decompression sickness and venous gas emboli at 8.3 psia

This study sought to determine the bends risk on decompression from sea level to 8.3 psia. On the basis of several prior studies by NASA and the Air Force, this differential was expected to result in a minimal (about 5 percent) incidence of mild decompression sickness, and may be the pressure of choice for the next-generation NASA extravehicular activity (EVA) pressure suit. Thirty-one volunteer subjects, performing light work characteristic of EVA, were exposed to 8.3 psia pressure altitude for six hours. Limb bends incidence was 3.2 percent, and 25.8 percent of the subjects demonstrated significant intravascular bubbling. Those who bubbled were significantly older than the bubble-free group, but differed in no other aspect. An 8.3 psia advanced pressure suit design was considered insufficient to totally preclude the risk of decompression sickness.

Smead, Kenneth W.↗
NASA NTRS1988

A design methodology for neutral buoyancy simulation of space operations

Neutral buoyancy has often been used in the past for EVA development activities, but little has been done to provide an analytical understanding of the environment and its correlation with space. This paper covers a set of related research topics at the MIT Space Systems Laboratory, dealing with the modeling of the space and underwater environments, validation of the models through testing in neutral buoyancy, parabolic flight, and space flight experiments, and applications of the models to gain a better design methodology for creating meaningful neutral buoyancy simulations. Examples covered include simulation validation criteria for human body dynamics, and for applied torques in a beam rotation task, which is the pacing crew operation for EVA structural assembly. Extensions of the dynamics models are presented for powered vehicles in the underwater environment, and examples given from the MIT Space Telerobotics Research Program, including the Beam Assembly Teleoperator and the Multimode Proximity Operations Device. Future expansions of the modeling theory are also presented, leading to remote vehicles which behave in neutral buoyancy exactly as the modeled system would in space.

Akin, David L.↗
NASA NTRS1987

Space truss assembly using teleoperated manipulators

Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators? Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.

Hankins, Walter W., III↗
NASA NTRS1988

Extravehicular activities limitations study. Volume 1: Physiological limitations to extravehicular activity in space

This report contains the results of a comprehensive literature search on physiological aspects of EVA. Specifically, the topics covered are: (1) Oxygen levels; (2) Optimum EVA work; (3) Food and Water; (4) Carbon dioxide levels; (5) Repetitive decompressions; (6) Thermal, and (7) Urine collection. The literature was assessed on each of these topics, followed by statements on conclusions and recommended future research needs.

Furr, Paul A.↗
NASA NTRS1988

Human factors: Space

The objectives are to provide a technology base for intelligent operator interfaces, especially with autonomous subsystems, and to develop a new generation of high performance space suits, gloves, and tools/end effectors to meet the requirements of advanced space missions. The technology base is intended to meet the requirements of productivity, efficiency, and safety in complex manned operations within automated onboard systems and extravehicular activities (EVA) environments. Crew station research is the first of two major areas. Development of methods for the astronaut to supervise, monitor, and evaluate the performance of robotic systems, other space subsystems, and orbital vehicles are key areas of research. The second major area is development of an EVA space suit and gloves. Emphasis in the space human factors research program is placed on technology baseline studies and development of methods, techniques, and data to support productive and safe operations by the astronaut and crew as they interface with complex systems, advance automation, and robotic assistants.

Jenkins, James P.↗
NASA NTRS1988

A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

Smith, Jeffrey 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 NTRS1989

Results and applications of a space suit range-of-motion study

The range of motion of space suits has traditionally been described using limited 2-D mapping of limb, torso, or arm movements performed in front of an orthogonal grid. A new technique for recovering extra-vehicular (EVA) space suit range-of-motion data during underwater testing was described in a paper presented by the author at the 1988 conference. The new technique uses digitized data which is automatically acquired from video images of the subject. Three-dimensional trajectories are recovered from these data, and can be displayed using 2-D computer graphics. Results of using this technique for the current shuttle EVA suit during underwater simulated weightlessness testing are discussed. Application of the data for use in animating anthropometric computer models is highlighted.

Reinhardt, AL↗
NASA NTRS1987

Automation and robotics and related technology issues for Space Station customer servicing

Several flight servicing support elements are discussed within the context of the Space Station. Particular attention is given to the servicing facility, the mobile servicing center, and the flight telerobotic servicer (FTS). The role that automation and robotics can play in the design and operation of each of these elements is discussed. It is noted that the FTS, which is currently being developed by NASA, will evolve to increasing levels of autonomy to allow for the virtual elimination of routine EVA. Some of the features of the FTS will probably be: dual manipulator arms having reach and dexterity roughly equivalent to that of an EVA-suited astronaut, force reflection capability allowing efficient teleoperation, and capability of operating from a variety of support systems.

Cline, Helmut P.↗
NASA NTRS1988

Dehumidification via membrane separation for space-based applications

The paper describes the development of a membrane-based dehumidification process for space-based applications, such as spacecraft cabins and EVA space suits. Results presented are from: (1) screening tests conducted to determine the efficacy of various membranes to separate water vapor from air, and (2) parametric and long-term tests of membranes operated at conditions that simulate the range of environmental conditions (e.g., temperature and relative humidity) expected in the planned Space Station. Also included in this paper is a discussion of preliminary designs of membrane-based dehumidification processes for the Space Station and EVA space suits. These designs result in compact and energy-efficient systems that offer significant advantages over conventional dehumidification processes.

Gienger, Jane Kucera↗
NASA NTRS1988

Development of the NASA ZPS Mark III 57.2-kN/sq m (8.3 psi) space suit

The zero-prebreathe Mark III, 8.3-psi EVA-capable space-suit assembly represents a significant evolutionary development stage toward the creation of an operational space-suit system for the NASA Space Station Program. The unique implementation of the Ortman cable coupling arrangement allows rapid assembly and disassembly of major suit component hardware; this will in turn facilitate on-orbit maintainability and resizing operations. Advanced thermal/micrometeoroid garment-type protection features were investigated in anticipation of Space Station construction-related EVA hazards, and duly incorporated in the final Mark III suit design.

Kosmo, Joseph J.↗
NASA NTRS1989

Human tolerance to space flight

Medical studies of astronauts and cosmonauts before, during, and after space missions have identified several effects of weightlessness and other factors that influence the ability of humans to tolerate space flight. Weightlessness effects include space motion sickness, cardiovascular abnormalities, reduction in immune system function, loss of red blood cells, loss of bone mass, and muscle atrophy. Extravehicular activity (EVA) increases the likelihood that decompression sickness may occur. Radiation also gives reason for concern about health of crewmembers, and psychological factors are important on long-term flights. Countermeasures that have been used include sensory preadaptation, prebreathing and use of various air mixtures for EVA, loading with water and electrolytes, exercise, use of pharmacological agents and special diets, and psychological support. It appears that humans can tolerate and recover satisfactorily from at least one year of space flight, but a number of conditions must be further ameliorated before long-duration missions can be considered routine.

Huntoon, C. L.↗
NASA NTRS1989

Moments applied in the rotation of massive objects in Shuttle extravehicular activity

Experimentally derived applied moments are presented for Space Shuttle crew EVA mission rotations of objects more massive than the human body. These levels appear to be small fractions of physiological limits; horizontal and vertical shoulder strength limits greater than 50 Nm have been established for foot-restrained, pressure-suited subjects in simulated weightlessness. The reduced level in operational EVA may be due to unfamiliarity with manual control in true weightlessness.

Cousins, D.↗
NASA NTRS1989

Making on-orbit structural repairs to Space Station

One of the key factors dictating the safety and durability of the proposed U.S. Space Station is the ability to repair structural damage while remaining in orbit. Consequently, studies are conducted to identify the engineering problems associated with accomplishing structural repairs on orbit, due to zero gravity environment and exposure to extreme temperature variations. There are predominant forms of structural failure, depending on the metallic or composite material involved. Aluminum is the primary metallic material used in space vehicle applications. Welding processes on aluminum alloy structures were tested, resulting in final selection of electron beam welding as the primary technique for metallic material repair in Space. Several composite structure repair processes were bench-tested to define their applicability to on-orbit EVA requirements: induction heating prevailed. One of the unique problems identified as inherent in the on-orbit repair process is that of debris containment. The Maintenance Work Station concept provides means to prevent module contamination from repair debris and ensure the creation of a facility for crew members to work easily in a microgravity environment. Different technologies were also examined for application to EVA repair activities, and the concept selected was a spring-loaded, collapsible, box-like Debris Containement and Collection Device with incorporated fold-down tool boards and handholes in the front panel.

Haber, Harry S.↗
NASA NTRS1986

Independent Orbiter Assessment (IOA): Analysis of the extravehicular mobility unit

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results corresponding to the Extravehicular Mobility Unit (EMU) hardware. The EMU is an independent anthropomorphic system that provides environmental protection, mobility, life support, and communications for the Shuttle crewmember to perform Extravehicular Activity (EVA) in Earth orbit. Two EMUs are included on each baseline Orbiter mission, and consumables are provided for three two-man EVAs. The EMU consists of the Life Support System (LSS), Caution and Warning System (CWS), and the Space Suit Assembly (SSA). Each level of hardware was evaluated and analyzed for possible failure modes and effects. The majority of these PCIs are resultant from failures which cause loss of one or more primary functions: pressurization, oxygen delivery, environmental maintenance, and thermal maintenance. It should also be noted that the quantity of PCIs would significantly increase if the SOP were to be treated as an emergency system rather than as an unlike redundant element.

Raffaelli, Gary G.↗