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At least 1,603 records · Page 89
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

Myers, Dale↗
NASA NTRS1986

Multiple Access Ku-band communications subsystem for the Space Station

This paper presents the results of advanced work on system design for the Space Station Multiple Access Subsystem (SSMAS), which includes equipment aboard the Space Station itself and aboard the space-borne group of user vehicles. In addition to the system development efforts, early hardware design work is being performed. A Ku-band transceiver representing the EVA or other equipment configuration has been breadboarded and system testing performed. Additional hardware is being designed for NASA JSC, which will be assembled to form a SSMAS test bed where the subsystem itself, as well as its hardware components, will be tested and evaluated.

Mackiw, G. E.↗
NASA NTRS1986

System architecture for the telerobotic work system

The functional and performance requirements and design concepts for a telerobotic work system (TWS) being considered as an adjunct to the Shuttle Remote Manipulator System and other applications are described. The multiple-armed free-flyer would be controlled by an operator in the Orbiter cabin and would perform remote sensing and manipulative tasks that EVA crew otherwise carry out. The TWS could also perform hazardous tasks, construction operations, and be an asset to the Space Station. Alternative system architectures are described, including the man-machine interface, the types of manipulators and their stowage, and the controls and backup systems. Potential terrestrial applications of the TWS concept, augmented with AI capabilities, are discussed.

Jenkins, Lyle M.↗
NASA NTRS1986

Space Station environmental control and life support system distribution and loop closure studies

The NASA Space Station's environmental control and life support system (ECLSS) encompasses functional elements concerned with temperature and humidity control, atmosphere control and supply, atmosphere revitalization, fire detection and suppression, water recovery and management, waste management, and EVA support. Attention is presently given to functional and physical module distributions of the ECLSS among these elements, with a view to resource requirements and safety implications. A strategy of physical distribution coupled with functional centralization is for the air revitalization and water reclamation systems. Also discussed is the degree of loop closure desirable in the initial operational capability status Space Station's oxygen and water reclamation loops.

Humphries, William R.↗
NASA NTRS1986

Servicing of user payload equipment in the Space Station pressurized environment

NASA Space Station servicing support facilities will include both pressurized and unpressurized work areas. While the latter will allow astronauts operating in EVAs or aided by robots to accomplish Orbital Replacement Unit (ORU) and instrument changes, tests, assembly, refueling, and repairs, the former will furnish astronauts engaged in work requiring intravehicular activities (IVAs) the ability to enter through an airlock into a module in which they can more carefully service ORUs. Baseline IVA accommodations encompass (1) a staging/assembly area for ORUs brought in from satellites, orbital platforms or attached payloads, (2) a work station for monitoring and control of the external Servicing Bay facility, and (3) a large, laminar flow workbench which would provide highly controlled conditions, as well as (4) a 'glovebox' for delicate servicing and (5) an assortment of hand tools and test equipment.

Levy, Joel↗
NASA NTRS1986

Advanced technology for the Space Station

The goals and objectives of the Space Station Advanced Development Program are discussed. Data from tests and experiments in the areas of attitude control and stabilization, communications and tracking, data management systems, man systems, mechanisms, power systems, structures, thermal systems, and EVA are examined. The approaches used to implement these programs and for data transfer are described. The plans for the development of the Space Station are presented.

Nolan, Mark B.↗
NASA NTRS1987

Telerobotic technology for nuclear and space applications

Developments in telerobotics applicable to nuclear and space environments are discussed. The advanced servomanipulator (ASM) slave arm force-reflected servomanipulators designed for modular remote maintainability of the Advanced Integrated Maintenance System is examined. Consideration is given to the master controller, transporter, interface package, operator control station, and the control system for the ASM arm. A prototype of a telerobot capable of performing the activity of an astronaut during EVA is developed. The mechanical and control system features of the telerobot are described.

Herndon, J. N.↗
NASA NTRS1987

Space Construction

The purpose was to present to the aerospace community an in-depth review of Experimental Assembly of Structures on EVA (EASE)/Assembly Concept for Construction of Erectable Space Structures (ACCESS) space flight experiments and to present the status of activities regarding future space flight experiments and accompanying technology developments that will demonstrate the capability of on-orbit construction required for the Space Station.

Hagaman, Jane A.↗
NASA NTRS1987

Access flight hardware design and development

Several items were found to be of immense value in the design and development of the Assembly Concept for Construction of Erectable Space Structures (ACCESS) hardware. The early availability of mock-up and engineering test hardware helped to develop the concept and prove the feasibility of the experiment. The extensive neutral buoyancy testing was invaluable in developing the procedures and timelines, proving that the hardware functioned as intended, and effectively trained the astronauts. The early involvement of the crew systems/astronaut personnel was extremely beneficial in shaping the design to meet the EVA compatibility requirements. Also, the early definition of coupled loads and on-orbit dynamic responses can not be overemphasized due to the relative uncertainty in the magnitude of these loads and their impact on the design.

Rogers, John F.↗
NASA NTRS1987

Mission Peculiar Equipment Support Structure: A platform for space construction

The Space Shuttle requires carriers to support payloads in the cargo bay. As a result, the Mission Peculiar Equipment Support Structure (MPESS) was designed to carry partial payloads aboard the shuttle. The efforts to customize the MPESS for the Experimental Assembly of Structure in EVA (EASE) and Assembly Concept for Construction of Erectable Space Structure (ACCESS) experiments are summarized.

Hill, Robert↗
NASA NTRS1987

Heuristic control of the Utah/MIT dextrous robot hand

Basic hand grips and sensor interactions that a dextrous robot hand will need as part of the operation of an EVA Retriever are analyzed. What is to be done with a dextrous robot hand is examined along with how such a complex machine might be controlled. It was assumed throughout that an anthropomorphic robot hand should perform tasks just as a human would; i.e., the most efficient approach to developing control strategies for the hand would be to model actual hand actions and do the same tasks in the same ways. Therefore, basic hand grips that human hands perform, as well as hand grip action were analyzed. It was also important to examine what is termed sensor fusion. This is the integration of various disparate sensor feedback paths. These feedback paths can be spatially and temporally separated, as well as, of different sensor types. Neural networks are seen as a means of integrating these varied sensor inputs and types. Basic heuristics of hand actions and grips were developed. These heuristics offer promise of control dextrous robot hands in a more natural and efficient way.

Bass, Andrew H., Jr.↗
NASA NTRS1987

Prediction of physical workload in reduced gravity environments

The background, development, and application of a methodology to predict human energy expenditure and physical workload in low gravity environments, such as a Lunar or Martian base, is described. Based on a validated model to predict energy expenditures in Earth-based industrial jobs, the model relies on an elemental analysis of the proposed job. Because the job itself need not physically exist, many alternative job designs may be compared in their physical workload. The feasibility of using the model for prediction of low gravity work was evaluated by lowering body and load weights, while maintaining basal energy expenditure. Comparison of model results was made both with simulated low gravity energy expenditure studies and with reported Apollo 14 Lunar EVA expenditure. Prediction accuracy was very good for walking and for cart pulling on slopes less than 15 deg, but the model underpredicted the most difficult work conditions. This model was applied to example core sampling and facility construction jobs, as presently conceptualized for a Lunar or Martian base. Resultant energy expenditures and suggested work-rest cycles were well within the range of moderate work difficulty. Future model development requirements were also discussed.

Goldberg, Joseph H.↗
NASA NTRS1987

Personnel occupied woven envelope robot power

The Human Occupied Space Teleoperator (HOST) system currently under development utilizes a flexible tunnel/Stewart table structure to provide crew access to a pressurized manned work station or POD on the space station without extravehicular activity (EVA). The HOST structure facilitates moving a work station to multiple space station locations. The system has applications to orbiter docking, space station assembly, satellite servicing, space station maintenance, and logistics support. The conceptual systems design behind HOST is described in detail.

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NASA NTRS1987

Expert system applications in spacecraft subsystem controllers

As NASA progresses into the development phase of the space station, it recognizes the importance and potential payback of high autonomous spacecraft subsystems. Priorities are presented for embedded expert system enhancements to the automatic control systems of the space station thermal, EVA, and life support systems. The primary emphasis is on top level application areas and development concerns for expert systems.

Marshall, Paul F.↗
NASA NTRS1987

Telerobotic truss assembly

The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.

Sheridan, Philip L.↗
NASA NTRS1987

Telerobot for space station

The Flight Telerobotic Servicer (FTS), a multiple arm dexterous manipulation system, will aid in the assembly, maintenance, and servicing of the space station. Fundamental ideas and basic conceptual designs for a shuttle-based telerobot system have been produced. Recent space station studies provide additional concepts that should aid in the accomplishment of mission requirements. Currently, the FTS is in contractual source selection for a Phase B preliminary design. At the same time, design requirements are being developed through a series of robotic assessment tasks being performed at NASA and commercial installations. A number of the requirements for remote operation on the space station, necessary to supplement extravehicular activity (EVA), will be met by the FTS. Finally, technology developed for telerobotics will advance the state of the art of remote operating systems, enhance operator productivity, and prove instrumental in the evolution of an adaptive, intelligent autonomous robot.

Jenkins, Lyle M.↗
NASA NTRS1987

Orbital transfer vehicle concept definition and system analysis study. Volume 4, Appendix A: Space station accommodations. Revision 1

Orbit Transfer Vehicle (OTV) processing at the space station is divided into two major categories: OTV processing and assembly operations, and support operations. These categories are further subdivided into major functional areas to allow development of detailed OTV processing procedures and timelines. These procedures and timelines are used to derive the specific space station accommodations necessary to support OTV activities. The overall objective is to limit impact on OTV processing requirements on space station operations, involvement of crew, and associated crew training and skill requirements. The operational concept maximizes use of automated and robotic systems to perform all required OTV servicing and maintenance tasks. Only potentially critical activities would require direct crew involvement or supervision. EVA operations are considered to be strictly contingency back-up to failure of the automated and robotic systems, with the exception of the initial assembly of Space-Based OTV accommodations at the space station, which will require manned involvement.

Randall, Roger M.↗
NASA NTRS1987

Conceptualization and design of a variable-gravity research facility

The goal is to provide facilities for the study of the effects of variable-gravity levels in reducing the physiological stresses upon the humans of long-term stay time in zero-g. The designs studied include: twin-tethered two module system with a central despun module with docking port and winch gear; and rigid arm tube facility using shuttle external tanks. Topics examined included: despun central capsule configuration, docking clearances, EVA requirements, crew selection, crew scheduling, food supply and preparation, waste handling, leisure use, biomedical issues, and psycho-social issues.

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