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The annular suspension and pointing system (ASPS) a payload auxiliary pointing device of the space shuttle is briefly described along with the function of the digital controller. The equations of motion of a simplified plan planar model of the ASPS are derived. Results of computer simulations are discussed.
When the final Skylab mission was completed in 1974, the onboard systems were used to maneuver the vehicle to a gravity gradient equilibrium attitude and were then shut down. Parked in this storage attitude, the vehicle was left undisturbed until March 1978 when contact was reestablished and the control systems were reactivated. During the intervening four years, the vehicle was subjected to subtle environmental torques which caused the vehicle to gradually progress from its initial stable state to a very dynamic condition just prior to the resumption of control. The paper deals with the dynamics of this process, including the analyses and simulations which were made to explain the motion and enable the planning of the reactivation process. The complementary roles of both numerical integration and closed-form analysis are demonstrated. Flight data obtained in the spring of 1978 are presented which support the analytical and simulation results.
Engineering changes made on the Voyager spacecraft during their explorations of the outer solar system are discussed. A recovery from a scan actuator fault, achieved by ground testing, in flight capability enhancement and testing, conservation of actuator usage and a set of contingency plans to substitute roll motion of the spacecraft for motion of the scan platform in the AZ direction, is discussed. General engineering improvements made are addressed, including a scan platform anticreep patch modification, an improvement of dynamic performance during maneuvers, and adaptive control of the attitude control deadband. Changes made in the power management are described. Finally, engineering improvements made in order to enhance scientific findings at the Uranus encounter are reviewed in detail. The two most important were the increased gyro drift turn rate capability to accommodate image motion compensation for the close fly-by of Miranda and the reduction in spacecraft rates to accommodate increased imaging exposure times without incurring excessive image smear.
A number of areas of research and laboratory experiments were identified which could lead to development of a cost efficient remote, disable satellite recovery system. Estimates were planned of disabled satellite motion. A concept is defined as a Tumbling Satellite Recovery kit which includes a modular system, composed of a number of subsystem mechanisms that can be readily integrated into varying combinations. This would enable the user to quickly configure a tailored remote, disabled satellite recovery kit to meet a broad spectrum of potential scenarios. The capability was determined of U.S. Earth based satellite tracking facilities to adequately determine the orientation and motion rates of disabled satellites.
Targets proximate to a travel route plan were evaluated to determine hazardousness. Projected geometric representation of a vehicle determines intrusion of hazardous targets along travel route plan. Geometric representation of hazardous targets projected along motion vector to determine intrusion upon travel route plan. Intrusion assessment presented on user display.
The results from experiments using the Hermes (formerly CTS) communications satellite to provide a local oscillator and data link between two antennas are presented. The techniques used to compensate for the satellite motion and translation oscillator are described. Plans for a series of three station experiments to measure UT and polar motion using the ANIK-B satellite to synchronize the local oscillators are discussed.
NASA's decadal survey determined that simultaneous measurements from a 3D volume of space are advantageous for a variety of studies in space physics and Earth science. Therefore, swarm concepts with multiple spacecraft in close proximity are a growing topic of interest in the small satellite community. Among the capabilities needed for swarm missions is a means to maintain operator-specified geometry, alignment, or separation. Swarm stationkeeping poses a planning challenge due to the limited scalability of ground resources. To address scalable control of orbital dynamics, we introduce SODA - Swarm Orbital Dynamics Advisor - a tool that accepts high-level configuration commands and provides the orbital maneuvers needed to achieve the desired type of swarm relative motion. Rather than conventional path planning, SODA's innovation is the use of artificial potential functions to define boundaries and keepout regions. The software architecture includes high fidelity propagation, accommodates manual or automated inputs, displays motion animations, and returns maneuver commands and analytical results. Currently, two swarm types are enabled: in-train distribution and an ellipsoid volume container. Additional swarm types, simulation applications, and orbital destinations are in planning stages.
NASA's decadal survey determined that simultaneous measurements from a 3D volume of space are advantageous for a variety of studies in space physics and Earth science. Therefore, swarm concepts with multiple spacecraft in close proximity are a growing topic of interest in the small satellite community. Among the capabilities needed for swarm missions is a means to maintain operator-specified geometry, alignment, or separation. Swarm stationkeeping poses a planning challenge due to the limited scalability of ground resources. To address scalable control of orbital dynamics, we introduce SODA - Swarm Orbital Dynamics Advisor - a tool that accepts high-level configuration commands and provides the orbital maneuvers needed to achieve the desired type of swarm relative motion. Rather than conventional path planning, SODA's innovation is the use of artificial potential functions to define boundaries and keepout regions. The software architecture includes high fidelity propagation, accommodates manual or automated inputs, displays motion animations, and returns maneuver commands and analytical results. Currently, two swarm types are enabled: in-train distribution and an ellipsoid volume container. Additional swarm types, simulation applications, and orbital destinations are in planning stages.
In 1995, the NASA Lewis Research Center and the Kirby Company (a major vacuum cleaner company) began negotiations for a Space Act Agreement to conduct research, technology development, and testing involving the flow behavior of airborne particulate flow behavior. Through these research efforts, we hope to identify ways to improve suction, flow rate, and surface agitation characteristics of nozzles used in vacuum cleaner nozzles. We plan to apply an advanced visualization technology, known as Stereoscopic Imaging Velocimetry (SIV), to a Kirby G-4 vacuum cleaner. Resultant data will be analyzed with a high-speed digital motion analysis system. We also plan to evaluate alternative vacuum cleaner nozzle designs. The overall goal of this project is to quantify both velocity fields and particle trajectories throughout the vacuum cleaner nozzle to optimize its "cleanability"--its ability to disturb and remove embedded dirt and other particulates from carpeting or hard surfaces. Reference
Training activities for flights of the Space Shuttle Orbiter are performed in the most complicated flight simulation facility yet assembled. The Shuttle Mission Simulator (SMS) provides training for the entire mission from prelaunch to postlanding. An extensive pilot-cues environment is provided in which visual, aural, and motion cues are presented. The planning and execution of training on the simulator must take into account the complexity of the Shuttle systems, the complexity of the procedures and crew interface on the Shuttle, and the complexity of the mission, itself. The major points of this training program are highlighted.
This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.
A virtual manipulator (VM) concept has been developed recently for the modeling of manipulators working in space. The authors show that the VM facilitates planning and control of the motions of manipulators mounted on spacecraft, minimizing the degrading consequences of manipulator/vehicle dynamic interactions.
A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.
The Microgravity Fluid Physics Program at NASA has developed a substantial investigator base engaging a broad crosssection of the U.S. scientific community. As a result, it enjoys a rich history of many significant scientific achievements. The research supported by the program has produced many important findings that have been published in prestigious journals such as Science, Nature, Journal of Fluid Mechanics, Physics of Fluids, and many others. The focus of the program so far has primarily been on fundamental scientific studies. However, a recent shift in emphasis at NASA to develop advanced technologies to enable future exploration of space has provided motivation to add a strategic research component to the program. This has set into motion a year of intense planning within NASA including three workshops to solicit inputs from the external scientific community. The planning activities and the workshops have resulted in a prioritized list of strategic research issues along with a corresponding detailed roadmap specific to fluid physics. The results of these activities were provided to NASA s Office of Biological and Physical Research (OBPR) to support the development of the Enterprise Strategy document. This paper summarizes these results while showing how the planned research supports NASA s overall vision through OBPR s organizing questions.
The engineering changes that had to be made in the Voyager 2 spacecraft in order to enable it to fly beyond the originally planned encounters with Jupiter and Saturn and the underlying engineering strategy leading to the encounter with Uranus are discussed. Fixes of the azimuth actuator failure, receiver failure, and memory failure, and capability upgrades of Image Data Compression, aperture augmentation protective coding, smear reduction, Image Motion Compensation, power management, and contingency planning are summarized. The use of the Computer Command Subsystem in the extension of the voyage is described. The ways in which the strategic priorities, including spacecraft preservation, protection of the near-encounter load, development of new ground and spacecraft capabilities, and repair or circumvention of existing spacecraft faults, were accomplished are reviewed, and the accomplishment of additional tasks is also discussed.
Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, such as the servicing of satellites. However, the performance of these systems could be severely degraded by dynamic disturbances to the spacecraft caused by manipulator motions. This paper presents a method for representing the dynamics of space manipulator systems using the recently developed Virtual Manipulator (VM) concept. This representation is then applied to develop algorithms which can be used to plan manipulator motions that minimize disturbances of the spacecraft.
This report summarizes the author's summer 1995 work at NASA Kennedy Space Center in the Advanced System Division. The assignment was path planning for the Payload Inspection and Processing System (PIPS). PIPS is an automated system, programmed off-line for inspection of Space Shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-dof serpentine truss manipulator capable of snake-like motions to avoid obstacles. The path planning problem was divided into two segments: (1) determining an obstacle-free trajectory for the inspection camera at the manipulator tip to follow; and (2) development of a follow-the-leader (FTL) algorithm which ensures whole-arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1995 work focused on the FTL algorithm. This report summarizes development, implementation, testing, and graphical demonstration of the FTL algorithm for prototype PIPS hardware. The method and code was developed in a modular manner so the final PIPS hardware may use them with minimal changes. The FTL algorithm was implemented using MATLAB software and demonstrated with a high-fidelity IGRIP model. The author also supported implementation of the algorithm in C++ for hardware control. The FTL algorithm proved to be successful and robust in graphical simulation. The author intends to return to the project in summer 1996 to implement path planning for PIPS.
BACKGROUND Scaled biomechanical models can more accurately inform crew health decisions when tailored to the wide range of astronaut sizes. One component to improve scaling of existing models to better represent each unique astronaut’s size is the individual length scaling of limbs. Traditionally, these lengths are determined by motion capture or manual measurement. A new method is herein proposed for length scaling which can be done by measuring linear and angular accelerations at a desired point during isolated motion around a point of rotation, then calculating the distance between the desired point and point of rotation. When an Inertial Measurement Unit (IMU) device is placed at the distal point of a limb, the isolated motion is about that limb’s proximal joint. For example, to measure forearm length, an IMU is placed at the wrist, the point of rotation is at the elbow, and the isolated motion is forearm flexion and extension. These calculated lengths are then used to scale models to each unique astronaut’s size, thereby improving the applicability of the model. This method of scaling limb segments can be used for any limb that has an easily defined proximal joint for the limb to rotate around including hands, arms, legs, feet. Utilizing IMUs for data collection also provides the synergistic ability to record data without a dedicated space in a room with many cameras, therefore reducing the data collection footprint, or record data where optical motion capture is not possible, such as inside a spacesuit. METHODS AND RESULTS To test this method, upper body data collection was performed with 5 Xsens DOT IMUs on a single subject. IMUs consist of an accelerometer, a gyroscope, and a magnetometer which collect linear acceleration, angular velocity, and magnetic fluctuations, respectively. Before any ground-based laboratory collection, the magnetic fluctuations are used to correct the heading of the IMU in space relative to the Earth’s magnetic field. The direct measurement of angular velocity is integrated to calculate angular acceleration. Then the linear acceleration ( a ) and angular acceleration (α) are solved using r = at/α to calculate the radius, which in this case is the distance between the IMU and the point of rotation (i.e., segment length). The IMU must be placed at the most distal point of the limb being measured (i.e., ankle if measuring lower leg length) and the test plan must consist of an isolated motion about that limb’s proximal joint (i.e., knee flexion and extension if measuring lower leg length). The distances (radii) calculated at every time interval were filtered (bandpass filter keeping 5th-90th percentile data) to eliminate outliers and spurious data that occur when the isolated motion was stopped or nearly stopped. The remaining distances were averaged, resulting in the calculated limb length. Scaling factors were then computed by dividing the calculated limb length by the unscaled model’s length. These scale factors are plugged into the Scale Tool in OpenSim [1,2] to apply the scaling to the OpenSim Full Body Rajagopal Model [3,4]. Manual measurements of limb lengths were taken before data collection started and used for comparing against the calculated lengths. The Anthropometric Survey of US Army Personnel (ANSUR II) [5] was also used as a third source of reference for limb length measurements. The following measurements were retrieved from the subject before data collection: 34.5 cm from L1 to C7 (thorax), 25.7 cm from C7 Joint Center (JC) to head vertex (neck and head), 36.3 cm from shoulder JC to elbow JC (humerus), 29.5 cm from elbow JC to wrist JC (forearm), and 16.2 cm from clavicle to acromion (clavicle). Of those five, forearm and humerus lengths were calculated using this proposed method to obtain preliminary results. The forearm length after filtering and averaging was calculated to be 37.6 cm. This is a 28% overestimation from the measured forearm length (29.5 cm). The humerus length after filtering and averaging was calculated to be 47.8 cm. This is a 31% difference from the measured subject length (36.3 cm). Sources of error include imperfect isolated motion (method currently expects that motion should be perfectly circular in a 2D plane, include no rotation of the IMU, and be relatively smooth; a more secure IMU attachment method will help), unrefined filter techniques (removed highest and lowest values with 20% high and low pass filters and no smoothing filters), arbitrary removal of stopped or near stopped data (kept data for only a short range before and after the angular velocity peaking), and a more representative method for removing gravitational acceleration is needed (current method is to zero all accelerations against a baseline taken just before the isolated motion which does not account for the gravitational acceleration changed due to IMU rotation during movement). Addressing these error sources will improve the accuracy of the limb length calculation. Next steps include creating a method for whole-body scaling estimation using individual limb scale factors. Continued pursuit of these techniques is expected to enable acquiring anthropometric information using only IMUs in real-time.