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NASA NTRS1995

Sprint: The first flight demonstration of the external work system robots

The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

Price, Charles R.↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

Dubowsky, Steven↗

NASA NTRS1997

NASA Research Announcement Phase 2 Final Report for the Development of a Power Assisted Space Suit Glove

The main goal of this program was to develop an unobtrusive power-assisted EVA glove metacarpalphalangeal (MCP) joint that could provide the crew member with as close to nude body performance as possible, and to demonstrate the technology feasibility of power assisted space suit components in general. The MCP joint was selected due to its being representative of other space suit joints, such as the shoulder, hip and carpometacarpal joint, that would also greatly benefit from this technology. In order to meet this objective, a development team of highly skilled and experienced personnel was assembled. The team consisted of two main entities. The first was comprised of ILC's experienced EVA space suit glove designers, who had the responsibility of designing and fabricating a low torque MCP joint which would be compatible with power assisted technology. The second part of the team consisted of space robotics experts from the University of Maryland's Space Systems Laboratory. This team took on the responsibility of designing and building the robotics aspects of the power-assist system. Both parties addressed final system integration responsibilities.

Lingo, Robert↗

NASA NTRS1997

STS-87 Day 04 Highlights

On this fourth day of the STS-87 mission, the flight crew, Cmdr. Kevin R. Kregel, Pilot Steven W. Lindsey, Mission Specialists Winston E. Scott, Kalpana Chawla, and Takao Doi, and Payload Specialist Leonid K. Kadenyuk check out the spacesuits for the EVA planned for later during the mission. Mission Control developed plans that may allow Scott and Doi to recapture the Spartan satellite by hand during that EVA.

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NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total funding we received under this grant represented approximately one year of the original, proposed and approved, funding. For some time, there was substantial uncertainty that even this very reduced level of funding would be provided. The spending of the reduced available funds was spread just over two years to provide the support to permit the MS students who had joined the program to receive their master's degree and terminate their studies in this area.

Dubowsky, Steven↗

NASA NTRS1998

Thermal Vacuum Testing of the Crew and Equipment Translation Aid for the International Space Station

The Crew and Equipment Translation Aid (CETA) is a human powered cart that will aid astronauts in conducting extra-vehicular activity (EVA) maintenance on the International Space Station (ISS). There are two critical EVA tasks relevant to the successful operation of the CETA. These are the removal of the launch restraint bolts during its initial deployment from the Space Shuttle payload bay and the manual deceleration of the cart, its two onboard astronauts, and a payload. To validate the launch restraint and braking system designs, the hardware engineers needed to verify their performance in an environment similar to that in which it will be used. This environment includes the vacuum of low earth orbit and temperatures as low as -11O F and as high as +200 F. The desire for quantitative data, as opposed to subjective information which could be provided by a suited astronaut, coupled with test scheduling conflicts resulted in an unmanned testing scenario. Accommodating these test objectives in an unmanned test required a solution that would provide remotely actuated thermal vacuum compatible torque sources of up to 25 ft-lbs at four horizontally oriented and four vertically oriented bolts, a variable input force of up to 125 lbs at the four brake actuators, and thermal vacuum compatible torque and force sensors. The test objectives were successfully met in both the thermal Chamber H and the thermal vacuum Chamber B at NASA's Johnson Space Center.

Blanco, Raul A.↗

NASA NTRS1999

Space Environmental Effects on Colored Coatings and Anodizes

Colored coatings and anodizes are used on spacecraft as markers and astronaut visual aids. These materials must be stable in the space environment and withstand atomic oxygen, ultraviolet radiation, particulate radiation, thermal cycling, and high vacuum without significant change in optical and mechanical properties. A variety of colored coatings and anodizes have been exposed to simulated space environments at Marshall Space Flight Center and also actual space environment as part of the Passive Optical Sample Assembly (POSA) - I flight experiment. Colored coatings were developed by AZ Technology, Huntsville, AL, under a NASA contract for International Space Station (ISS). These include yellow, red, blue, and black paints suitable for Extra-Vehicular Activity (EVA) visual aids and ISS emblems. AaChron, Inc., Minneapolis, MN, developed stable colored anodizes, also in yellow, red, blue, and black, for astronaut visual aids. These coatings were exposed in the laboratory to approximately 550 equivalent sun-hours of solar ultraviolet radiation and approximately 1 x 10(exp 21) atoms/sq cm of atomic oxygen in vacuum. The AZ Technology yellow colored coating, designated TMS800IY, and all four AaChron colored anodizes were flown on POSA-I. POSA-I was a Risk Mitigation Experiment for ISS. It was attached to the exterior of the Mir space station docking module by EVA and was exposed for 18 months. The laboratory-simulated space environment, the natural space environment and the unique environment of an orbiting, active space station and their effects on these developmental materials are discussed.

Kamenetzky, Rachel R.↗

NASA NTRS1999

STS-103 Flight Day 5 Highlights and Crew Activities Report

Highlights of the fifth day of the STS-103 mission on board the space shuttle Discovery are shown in this videotape. The mission was led by Commander Curtis L. Brown, with Pilot Scott J Kelly, and Mission Specialists Steven L. Smith, Jean-Francois Clervoy, John M. Grunsfeld, Michael Foale, and Claude Nicollier. The main purpose of the mission was to service the Hubble Space Telescope (HST). The primary objective of the mission was to replace all six of the gyroscopes that make up the three Rate Sensor Units. In addition the Astronauts installed a new computer. During the 5th day Michael Foale and Claude Nicollier performed the servicing of the HST in an 8 hour 10 minute Extravehicular Activity (EVA). The servicing included the removal of the old computer and the installation of a new, faster computer with more memory. They also installed a new outer thermal layer to protect the computer. After this was finished the astronauts replaced one of the Fine Guidance Sensors (FGS), an optical sensor which allows NASA to point the telescope in the desired direction. The video includes actual live views of the HST in the shuttle's service bay, and footage of the repair and servicing EVA.

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NASA NTRS1991

STS-37 Post-flight Crew Press Conference

This NASA Kennedy Space Center video release presents a continuation of the April 19, 1991 STS-37 post-flight crew press conference from Johnson Space Center (JSC). Part 2 of the conference continues the question and answer period of Part 1 with Steven R. Nagel, Commander, Kenneth D. Cameron, Pilot, Jerry L. Ross, Mission Specialist 1, Jay Apt, Mission Specialist 2, and Linda M. Godwin, Mission Specialist 3 fielding questions posed by scientific journalists from JSC and other NASA centers. Topics discussed include: the necessary Extravehicular Activity (EVA) to free the Gamma Ray Observatory high gain antenna, communication between Atlantis and space station MIR, HAM radio contacts with Earth, and EVA contingency planning. Part 1 of the press conference can be found in Report Number NONP-NASA-VT-2000013419.

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NASA NTRS1999

A Methodology for Investigating Adaptive Postural Control

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

McDonald, P. V.↗

NASA NTRS2000

STS-99 Flight Crew Post-Landing Press Conference

The primary objective of the STS-99 mission was to complete high resolution mapping of large sections of the Earth's surface using the Shuttle Radar Topography Mission (SRTM), a specially modified radar system that will produced unrivaled 3-D images of the Earth's Surface. The mission was launched at 12:31 on February 11, 2000 onboard the space shuttle Endeavour. The mission was led by Commander Kevin Kregel. The crew was Pilot Dominic L. Pudwill Gorie and Mission Specialists Janet L. Kavandi, Janice E. Voss, Mamoru Mohri, the National Space Development Agency (Japanese Space Agency) and Gerhard P. J. Thiele, from DARA (German Space Agency). The shuttle landed at Kennedy on the February 22, 2000 at 5:22 CST. This tape shows a post landing press conference with the crew. Commander Kregel made a brief statement praising the crew for the mission's success and then introduced the crewmembers. The crew answered questions about the retraction of the mast. The retraction had been successful, but the latches to the canister had failed. The extreme cold may have caused the problem and a solution was proposed from ground control. If this had not worked, an EVA would have been required. The astronauts were confident in the solution to the problem, however they were ready to perform any required EVA. Mamoru Mohri answered questions from the Japanese press, speaking in English and Japanese.

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NASA NTRS2000

STS-101 Crew Training

Live footage shows the crewmembers of STS-101, Commander James D. Halsell Jr., Pilot Scott J. Horowitz, and Mission Specialists Susan J. Helms, Yuri Vladimirovich Usachev, James S. Voss, Mary Ellen Weber, and Jeffrey N. Williams, participating in various crew training. Footage includes the crew Photo Session, crew Compartment Bailout Training, SAFER EVA Virtual Reality Training, ISS Ingress Training, Shuttle Simulator Rendezvous Training, EVA Preparation, and ISS Stowage Training.

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NASA NTRS1985

Ultrasound Techniques for Space Applications

Ultrasound has proven to be a safe non-invasive technique for imaging organs and measuring cardiovascular function. It has unique advantages for application to problems with man in space including evaluation of cardiovascular function both in serial studies and during critical operations. In addition, specialized instrumentation may be capable of detecting the onset of decompression sickness during EVA activities. A spatial location and three-dimensional reconstruction system is being developed to improve the accuracy and reproducibility for serial comparative ultrasound studies of cardiovascular function. The three-dimensional method permits the acquisition of ultrasonic images from many views that can be recombined into a single reconstruction of the heart or vasculature. In addition to conventional imaging and monitoring systems, it is sometimes necessary or desirable to develop instrumentation for special purposes. One example of this type of development is the design of a pulsed-Doppler system to monitor cerebral blood flow during critical operations such as re-entry. A second example is the design of a swept-frequency ultrasound system for the detection of bubbles in the circulatory system and/or soft tissues as an early indication of the onset of decompression sickness during EVA activities. This system exploits the resonant properties of bubbles and can detect both fundamental and second harmonic emissions from the insonified region.

Rooney, James A.↗

NASA NTRS2001

ISS And Space Environment Interactions Without Operating Plasma Contactor

The International Space Station (ISS) will be the largest, highest power spacecraft placed in orbit. Because of this the design of the electrical power system diverged markedly from previous systems. The solar arrays will operate at 160 V and the power distribution voltage will be 120 V. The structure is grounded to the negative side of the solar arrays so under the right circumstances it is possible to drive the ISS potential very negative. A plasma contactor has been added to the ISS to provide control of the ISS structure potential relative to the ambient plasma. The ISS requirement is that the ISS structure not be greater than 40 V positive or negative of local plasma. What are the ramifications of operating large structures with such high voltage power systems? The application of a plasma contactor on ISS controls the potential between the structure and the local plasma, preventing degrading effects. It is conceivable that there can be situations where the plasma contactor might be non-functional. This might be due to lack of power, the need to turn it off during some of the build-up sequences, the loss of functionality for both plasma contactors before a replacement can be installed, similar circumstances. A study was undertaken to understand how important it is to have the contactor functioning and how long it might be off before unacceptable degradation to ISS could occur. The details of interaction effects on spacecraft have not been addressed until driven by design. This was true for ISS. If the structure is allowed to float highly negative impinging ions can sputter exposed conductors which can degrade the primary surface and also generate contamination due to the sputtered material. Arcing has been known to occur on solar arrays that float negative of the ambient plasma. This can also generate electromagnetic interference and voltage transients. Much of the ISS structure and pressure module surfaces exposed to space is anodized aluminum. The anodization thickness is very thin to provide the required solar absorptance and emittance. For conditions where ISS structure can charge negative a large percentage of the array voltage, the dielectric strength of this layer is low, and dielectric breakdown (arcing) can occur. The energy stored capacitively in the structure can be delivered to the arc. The mechanisms by which this energy is delivered and how much of the energy is available hasn't been fully quantified. Questions have been raised regarding the possibility of whether a sustained arc might result due to current collected by the solar arrays from local plasma. It was postulated that even if dielectric breakdown didn't occur, impacts due to micrometeoroids and space debris could penetrate thin layers of dielectric on ISS and initiate an arc due to the coupling provided by the dense local plasma produced by the impact. This was proven in experiments conducted jointly by MSFC and Auburn University. A target chamber with a simulated ionospheric plasma and a biased, anodized aluminum plate and a 1-microfarad capacitor was used. The plate was then impacted by 75-micron particles accelerated to orbital velocity. Arc discharges were sustained for higher voltages but a threshold appears below which no discharge was initiated. Most items without an exposed power system will float electrically near the local plasma potential. This is true of the Space Shuttle, an Astronaut on EVA, and similar items. The structure of ISS might be at a large negative voltage. Therefore, capacitively stored energy can be transferred during docking, installing external boxes and equipment and Astronaut contact with ISS structure. The circumstances of when this can happen and the resulting effects are evaluated in this study. Also, a crewmember on EVA might be in the vicinity of an arc. All safety aspects of such an encounter including charging, molten particles from the arc site and EMI have been evaluated. This paper will report on the total results of this study focussed on the 4A configuration, scheduled to be complete in November, 2000. Interactions such as arcing, debris induced arcs, sustained arcs, sputtering, contamination from sputtering and arcing, docking interactions and Astronaut safety issues will all be addressed.

Carruth, M. R., Jr.↗

NASA NTRS2000

Relationship of Exercise, Age, and Gender on Decompression Sickness and Venous Gas Emboli During 2-Hour Oxygen Prebreathe Prior to Hypobaric Exposure

We evaluated four 2-hour oxygen prebreathe protocols combining adynamia (non-walking) and 4 different amounts of exercise for potential use with extravehicular activity (EVA) on the International Space Station. Phase I: upper and lower body exercises using dual-cycle ergometry (75% VO2 max for 10 min). Phase 11: same ergometry plus 24 min of light exercise that simulated space suit preparations. Phase III: same 24 min of light exercise but no ergometry, and Phase IV: 56 min of light exercise without ergometry. After 80 min on 100% O2, the subjects breathed 26.5% O2 - 73.5% N2 for 30 min at 10.2 psi. All subjects performed a series of upper body exercises from a recumbent position for 4 hrs at 4.3 psi to simulate EVA work. Venous gas emboli (VGE) were monitored every 12 min using precordial Doppler ultrasound. The 39 female and 126 male exposures were analyzed for correlations between decompression sickness (DCS) or VGE, and risk variables. The duration and quantity of exercise during prebreathe inversely relates to DCS and VGE incidence. The type and distribution of the 19 cases of DCS were similar to historical cases. There was no correlation of age, gender, body mass index, or fitness level with greater incidence of DCS or all VGE. However there were more Grade IV VGE in males > 40 years (10 of 19) than in those =< 40 years (3 of 107), with p<0.01 from Fisher's Exact Chi square The latency time for VGE was longer (103 min +/- 56 SD, n = 15 versus 53 min +/- 31, n =13) when the ergometry occurred about 15 min into the prebreathe than when performed at the start of the prebreathe, but the order of the ergometry did not influence the overall DCS and VGE incidence. An increasing amount of exercise during prebreathes reduced the risk of DCS during subsequent exposures to 4.3 psi. Age, gender, or fitness level did not correlate with the incidence of DCS or VGE (combination of Grades I-IV). However males greater than 40 years had a higher incidence of Grade IV VGE.

Conkin, J.↗

NASA NTRS2000

Design and Testing of a 2-Hour Oxygen Prebreathe Protocol for Space Walks from the International Space Station

To develop and test a 2-hour prebreathe protocol for performing extravehicular activities (EVAs) from the International Space Station (ISS). Combinations of adynamia (non-walking), prebreathe exercise, and space suit donning options (10.2 vs. 14.7 psi) were evaluated, against timeline and consumable contraints to develop an operational 2- hour prebreathe protocol. Prospective accept/reject criteria were defined for decompression sickness (DCS) and venous gas emboli (VGE) from analysis of historical DCS data, combined with risk management of DCS under ISS mission circumstances. Maximum operational DCS levels were defined based on protecting for EVA capability with two crew-members at 95% confidence, throughout ISS lifetime (within the constraints of NASA DCS disposition policy JPG 1800.3). The accept/reject limits were adjusted for greater safety based on analysis of related medical factors. Monte-Carlo simulation was performed to design a closed sequential, multi-center human trial. Protocols were tested with 4 different prebreathe exercises (Phases I-IV), prior to exposure to 4.3 psi for 4 hrs. Subject selection, Doppler monitoring for VGE, test termination criteria, and DCS definitions were standardized. Phase I: upper and lower body exercises using dual-cycle ergometry (75% VO2 max for 10 min). Phase II: ergometry plus 24 min of light exercise (simulating space-suit preparations). Phase III: same 24 min of light exercise but no ergometry, and Phase IV: 56 min of light exercise without ergometry. A prebreathe procedure was accepted if, at 95% confidence, the incidence of DCS was less than 15% (with no Type II DCS), and Grade IV VGE was less than 20%.

Gernhardt, Michael L.↗

NASA NTRS2000

STS-92 Extravehicular Activity Overview

Daryl Schuck, STS-92 Lead Extravehicular Activity (EVA) Officer, gives an overview of the four EVAs scheduled for the STS-92 mission. He discusses the construction phase of the International Space Station (ISS) and the equipment to be installed onto the ISS, such as the Z-1 Truss, PMA-3 (Third Pressurized Mating Adapter), S-Band Antenna, and the DC to DC Power Converter. Mr. Schuck describes the challenges of the mission, and the activities and objectives of the spacewalks. He then answers questions from the press.

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NASA NTRS2001

System Report for the Optical Properties Monitor (OPM) Experiment

This systems report describes how the Optical Properties Monitor (OPM) experiment was developed. Pertinent design parameters are discussed, along with mission information and system requirements to successfully complete the mission. Environmental testing was performed on the OPM to certify it for spaceflight. This testing included vibration, thermal vacuum, electromagnetic interference and conductance, and toxicity tests. Instrument and monitor subsystem performances, including the reflectometer, vacuum ultraviolet, total integrated scatter, atomic oxygen monitor, irradiance monitor, and molecular contamination monitor during the mission are discussed. The OPM experiment was launched aboard the Space Shuttle on mission STS-81 in January 1997 and transferred to the Mir space station. An extravehicular activity (EVA) was performed in April 1997 to attach the OPM experiment to the outside of the Mir/Shuttle Docking Module for space environment exposure. The OPM conducted in situ measurements of a number of material samples. These data may be found in the OPM Science Report. OPM was retrieved during an EVA in January 1998 and was returned to Earth on board the Space Shuttle on mission STS-89.

Hummer, L.↗