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At least 1,207 records · Page 67

Long term orbital storage of cryogenic propellants for advanced space transportation missions

A comprehensive study has developed the major features of a large capacity orbital propellant depot for the space-based, cryogenic OTV. The study has treated both the Dual-Keel Space Station and co-orbiting platforms as the accommodations base for the propellant storage facilities, and trades have examined both tethered and hard-docked options. Five tank set concepts were developed for storing the propellants, and along with layout options for the station and platform, were evaluated from the standpoints of servicing, propellant delivery, boiloff, micrometeoroid/debris shielding, development requirements, and cost. These trades led to the recommendation that an all-passive storage concept be considered for the platform and an actively refrigerated concept providing for reliquefaction of all boiloff be considered for the Space Station. The tank sets are modular, each storing up to 45,400 kg of LO2/LH2, and employ many advanced features to provide for microgravity fluid management and to limit boiloff. The features include such technologies as zero-gravity mass gauging, total communication capillary liquid acquisition devices, autogenous pressurization, thermodynamic vent systems, thick multilayer insulation, vapor-cooled shields, solar-selective coatings, advanced micrometeoroid/debris protection systems, and long-lived cryogenic refrigeration systems.

Schuster, John R.↗

Advanced communications, tracking, robotic vision technology for space applications

Recent advancements in the areas of tracking, communications, and robotics vision sensors being pursued within NASA, as applicable to space programs, are presented. Optical and laser-based communications and tracking systems and applications to space programs are discussed. Communication systems for multiple access, broadband, high data rate, and efficient operations are given. Current efforts at 20/30 GHz and millimeter wave bands are summarized. The use of optical data processing in control system applications for rendezvous and docking is presented. Robotics vision, based on television, laser, and microwave sensors for space applications, is discussed. The fusion of these technologies for remote control, station keeping, tracking, inspection, and satellite repair is detailed.

Krishen, Kumar↗

Orbital spacecraft consumables resupply

The capability to replenish spacecraft, satellites, and laboratories on-orbit with consumable fluids provides significant increases in their cost and operational effectiveness. Tanker systems to perform on-orbit fluid resupply must be flexible enough to operate from the Space Transportation System (STS), Space Station, or the Orbital Maneuvering Vehicle (OMV), and to accommodate launch from both the Shuttle and Expendable Launch Vehicles (ELV's). Resupply systems for storable monopropellant hydrazine and bipropellants, and water have been developed. These studies have concluded that designing tankers capable of launch on both the Shuttle and ELV's was feasible and desirable. Design modifications and interfaces for an ELV launch of the tanker systems were identified. Additionally, it was determined that modularization of the tanker subsystems was necessary to provide the most versatile tanker and most efficient approach for use at the Space Station. The need to develop an automatic umbilical mating mechanism, capable of performing both docking and coupler mating functions was identified. Preliminary requirements for such a mechanism were defined. The study resulted in a modular tanker capable of resupplying monopropellants, bipropellants, and water with a single design.

Dominick, Sam M.↗

The use of force feedback control for robotic mating of umbilical fuel lines

Control problems in developing force feedback control to use in remotely connecting, disconnecting, and reconnecting the umbilical fuel lines of the Space Shuttle Vehicle are discussed. A docking protocol is proposed, indicating the required role of force feedback. The use of active force feedback control is examined and performance requirements and experimental results are given. A single degree-of-freedom force feedback model is presented and the application of classical control compensation techniques to the force control loop to increase flexibility is considered. In addition, possible modifications to the controller and plans for future research are discussed.

Fullmer, R.↗

Understanding of and applications for robot vision guidance at KSC

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

Shawaga, Lawrence M.↗

Precise computer controlled positioning of robot end effectors using sensory feedback

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Wang, J. C.↗

Directional Hearing Aid

Hearing-aid device indicates visually whether sound is coming from left, right, back, or front. Device intended to assist individuals who are deaf in at least one ear and unable to discern naturally directions to sources of sound. Device promotes safety in street traffic, on loading docks, and in presence of sirens, alarms, and other warning sounds. Quadraphonic version of device built into pair of eyeglasses and binaural version built into visor.

Jhabvala, M.↗

Open control/display system for a telerobotics work station

A working Advanced Space Cockpit was developed that integrated advanced control and display devices into a state-of-the-art multimicroprocessor hardware configuration, using window graphics and running under an object-oriented, multitasking real-time operating system environment. This Open Control/Display System supports the idea that the operator should be able to interactively monitor, select, control, and display information about many payloads aboard the Space Station using sets of I/O devices with a single, software-reconfigurable workstation. This is done while maintaining system consistency, yet the system is completely open to accept new additions and advances in hardware and software. The Advanced Space Cockpit, linked to Grumman's Hybrid Computing Facility and Large Amplitude Space Simulator (LASS), was used to test the Open Control/Display System via full-scale simulation of the following tasks: telerobotic truss assembly, RCS and thermal bus servicing, CMG changeout, RMS constrained motion and space constructible radiator assembly, HPA coordinated control, and OMV docking and tumbling satellite retrieval. The proposed man-machine interface standard discussed has evolved through many iterations of the tasks, and is based on feedback from NASA and Air Force personnel who performed those tasks in the LASS.

Keslowitz, Saul↗

Modifications to the NASA Ames Space Station Proximity Operations (PROX OPS) Simulator

As the United States is approaching an operational space station era, flight simulators are required to investigate human design and performance aspects associated with orbital operations. Among these are proximity operations (PROX OPS), those activities occurring within a 1-km sphere of Space Station including rendezvous, docking, rescue, and repair. The Space Station Proximity Operations Simulator at NASA Ames Research Center was modified to provide the capability for investigations into human performance aspects of proximity operations. Accurate flight equations of motion were installed to provide the appropriate visual scene to test subjects performing simulated missions. Also, the flight control system was enhanced by enabling pilot control over thruster acceleration values. Currently, research is under way to examine human performance in a variety of mission scenarios.

Brody, Adam↗

CAMELOT 2

The design parameters of a space vehicle resulting from studies conducted at the University of Michigan are presented. The vehicle is identified as a Circulating Autonomous Mars-Earth Luxury Orbital Transport (CAMELOT). This report documents the results of the current study based on several key changes in the spacecraft systems and layout. Subjects discussed are propulsion, docking, power systems, habitat design, and orbital assembly.

Source record↗

The OMV Data Compression System Science Data Compression Workshop

The Video Compression Unit (VCU), Video Reconstruction Unit (VRU), theory and algorithms for implementation of Orbital Maneuvering Vehicle (OMV) source coding, docking mode, channel coding, error containment, and video tape preprocessed space imagery are presented in viewgraph format.

Lewis, Garton H., Jr.↗

The 23rd Aerospace Mechanisms Symposium

Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft latches, deployment, positioning, and pointing. Devices for Space Station docking and manipulator and teleoperator mechanisms are also described.

Source record↗

Sensor systems testbed for telerobotic navigation

A testbed has been developed for the study of sensor systems to be used in telerobotic operations. The program, conducted in conjunction with Johnson Space Center of NASA, addresses the navigational problems associated with target acquisition and rendezvous for teleoperated robotic work stations. The program will utilize a mobile platform which will support various sensor systems during their development and testing in an earth-based environment. The testbed has been developed in support of a program to develop sensor systems that will aid in rendezvous and docking operations to be conducted as a part of the space station program. A mobile platform has been used to permit testing of these components in a conventional laboratory environment with consequent savings in cost and complexity. The sensor systems, while representative of devices currently in use for robotic applications, are not considered prototypical of the ones that will be used in the final applications. The test program provided information that will support the design of system augmentations and will lead to a comprehensive test program for sensor development.

Thiele, A. W.↗

Status of the US Space Station ECLSS and internal TCS

The U.S. Space Station includes many elements and systems. Responsibility for these have been delegated to four NASA centers via a work packaging concept. Marshall Space Flight Center (MSFC) is responsible for work package one (WPOI) which includes the habitation, laboratory modules, the logistic carrier elements, as well as the environmental control and life support system (ECLSS), the internal thermal control system (ITCS), and the internal audio and video systems. Current status of the ECLSS and internal thermal are the subjects of this paper. The ECLSS is composed of six subsystem groups: the temperature humidity control, the atmosphere control and supply, the air revitalization, water reclamation and management, fecal waste management, and the fire detection and suppression subsystems. The internal TCS consists of all WP01 elements of passive and active thermal measures. The ECLSS and ITCS provide services for the permanently orbiting pressurized modules as well as the pressurized and unpressurized logistics carriers. The logistics carriers are used as ground-to-station ferries for both resupply and initial delivery of selected new equipment and later replacement items. Equipment, which cannot be subjected to the rigors of the space environment, will be carried in the pressurized logistic carrier; while an unpressurized carrier is used to resupply other commodities, such as external fluid consumables. The laboratory module houses the equipment for both payloads and subsystem maintenance and repair. The habitation module is dedicated to providing living and sleeping quarters including a galley, sleeping provisions, hygiene facilities, medical services as well as services for exercise and relaxation. The four nodes that join the two modules at their ends also house electronics as well as work stations and outside viewing cupolas. The airlocks, one providing an emergency hyperbaric chamber capability, are also attached. This assembly constitutes the U.S. provided portion of the initial station. Additional international modules and docking provisions for future attached pressurized payload as well as dual logistic module and growth capabilities are also provided. The primary heat rejection mechanism is achieved via a central set of radiators provided by another work package. The interface with the central TCS at the module heat exchangers defines the active control interface boundary of the ITCS with the central TCS. All internal cooling of the permanent orbital elements are provided via internal active fluid loops within the elements utilizing water as the transport media. Cabin and equipment cooling are provided by forced air flow and cold plate heat sinks. A special active cooling loop is provided in the laboratory module to accommodate experiments and other payloads. Coatings and insulation are used in conjunction with the active components to passively limit heat losses/gains. The most challenging ECLSS new technology issues relate to oxygen and water recovery. Closure of the oxygen loop requires the use of new regenerative CO 2 removal and concentration techniques, CO 2 reduction to convert the CO 2 to water with a waste by-product, and the electrolysis of water to produce breathing oxygen for water recovery. For water recovery three separate loops are currently planned. One loop provides potable water by utilizing a combination of recovered condensate and CO 2 reduction water. A second loop purifies hygiene water from waste from the showers, clothes washer, hygiene/hand wash stations and a dishwasher. The third loop provides hygiene water by the reclamation and purification of urine water. This paper outlines the basic services provided by the ECLSS and ITCS and describes the ECLSS functional distribution throughout the pressurized assembly.

R. Humphries↗

Dual keel Space Station payload pointing system design and analysis feasibility study

A Space Station attached Payload Pointing System (PPS) has been designed and analyzed. The PPS is responsible for maintaining fixed payload pointing in the presence of disturbance applied to the Space Station. The payload considered in this analysis is the Solar Optical Telescope. System performance is evaluated via digital time simulations by applying various disturbance forces to the Space Station. The PPS meets the Space Station articulated pointing requirement for all disturbances except Shuttle docking and some centrifuge cases.

Smagala, Tom↗

All resistojet control of the NASA dual keel Space Station

This paper describes a control system that uses small (0.1-N) hydrogen-fueled, high-expansion-ratio resistojets to control a Space Station's position and attitude. The number and size of the resistojets is calculated based on requirements for stationkeeping, compensation for steady-state gravity-gradient and aerodynamic torques, momentum loading due to mobile remote manipulator motion, Shuttle Orbiter docking, and translational evasive maneuvering. The all-resistojet control system performs continuous orbit maintenance while keeping the linear accelerations on the spacecraft lower than they would be without any control system operating.

Paluszek, M. A.↗

Mars Rover Sample Return ascent, rendezvous, and return to earth

Ascent, rendezvous and earth return are three operational mission sequences in the sample return phase of the Mars Rover Sample Return (MRSR) mission. In the conduct of the current study, several vehicles have been identified to enable the sample return phase of the mission. These elements are the Mars Ascent Vehicle (MAV), the Earth Return Vehicle (ERV), the rendezvous and docking module (RDM), and the sample return capsule (SRC). The sample return elements, when combined with other elements performing the launch and delivery functions, form the basis of the MRSR system. This paper summarizes the significant mission aspects of the sample return phase, describes the Mars ascent and earth return scenario, illustrates the conceptual designs developed for the MAV, ERV, RDM, and SRC, and discusses the results of significant trade studies conducted.

Lance, Nick↗

The impact of an IVA robot on the Space Station microgravity environment

In order to maintain a microgravity environment during Space Station operations, it will be necessary to minimize reaction forces. These mechanical forces will typically occur during reboost, docking, equipment operation, intravehicular activities (IVA) robot operation, or crew activity. This paper focuses on those disturbances created by an IVA robot and its impact on the Space Station microgravity environment. The robot dynamic analysis that was used to generate the forcing function as the input into a finite element model of the U.S. Laboratory will be shown. Acceleration levels were determined through analysis and have shown that a robotic system can sustain reaction forces into the station below 0.0001 g. A comparison between IVA robot effects and crew motion effects on the low-g environment is also described. It is concluded that robot trajectory shaping and motor accelerations feedback can minimize reaction forces.

Harman, Phillip E.↗