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NASA NTRS1992

In-space assembly-servicing requirements

A method for developing the requirements for in-space assembly, servicing, and checkout of proposed Mars space transfer vehicles is discussed. Required in-space operations and functions are identified in relation to various Earth to Orbit (ETO) vehicles by looking at the manifesting options of baseline Mars Space Transfer Vehicles (STV). Each operation is then reduced to a minimum complexity state resulting in a set of operational primitive functions. These primitive functions are used to assess the trade-offs between robotic, telerobotic, and EVA operations. The study demonstrates that the complexity of the in-space operations remains stable with ETO vehicle size, and therefore the functions, and ultimately the infrastructure required to support proposed missions, are relatively unaffected by varying the ETO vehicle size within the range considered for this study.

Cockrell, Charles E.↗

NASA NTRS1990

Lunar vehicle assembly and processing on Space Station Freedom

A concept is proposed that permits the accommodation of lunar vehicles on Space Station Freedom (SSF) within the context of the Human Exploration Initiative. The facility required for lunar-vehicle processing is defined with references to the types of support equipment assumed for these tasks. Attention is given to the SSF Assembly Complete, verification of the Lunar Transfer Vehicles (LTVs), and the attachments of reusable vs expendable LTVs. The impact of the assembly and processing operations is delineated with specific qualifications for revising the allowances for vehicle mass and controllability, reboost fuel needs, microgravity activities, and flight attitude. EVA working time is estimated for overhead and truss-assembly operations at about 3 months to support reusable LTV operations on the SSF. An Assembly/Servicing Facility is proposed for these activities with specific hardware options, and a hydrogen-oxygen propulsion system is proposed to make these activities more efficient.

Troutman, Patrick A.↗

NASA NTRS1992

Teleoperator performance in simulated Solar Maximum Satellite repair

An investigation is conducted of the relative benefits of different teleoperator control modes in simulated space servicing. The simulation replicates part of the Solar Maximum EVA Satellite Repair (SMSR) mission of STS-13, in 1974. The formal experimental design and statistical analysis presented demonstrates that position control is superior for small workspace volume management. Quantitative studies demonstrate significant benefits of shared Cartesian control modes for contact tasks; good performance will require the systematic analysis and synthesis of man-machine systems.

Schenker, Paul S.↗

NASA NTRS1991

Microgravity and the lung

Results are presented from studies of the effect of microgravity on the lungs of rats flown on the Cosmos 2044 mission, and from relevant laboratory experiments. The effects of microgravity fall into five categories: topographical structure and function, the lung volumes and mechanics, the intrathoracic blood pressures and volumes, the pulmonary deposition of aerosol, and denitrogenaton during EVA. The ultrastructure of the left lungs of rats flown for 14 days on the Cosmos 2044 spacecraft and that of some tail-suspended rats disclosed presence of red blood cells in the alveolar spaces, indicating that pulmonary hemorrhage and pulmonary edema occurred in these rats. Possible causes for this phenomenon are discussed.

West, John B.↗

NASA NTRS1991

Lubricant and seal technologies for the next generation of lunar roving vehicles

In a recent study commissioned by NASA it was determined that tribological failures can be life-limiting in many applications for the next generation of lunar rover vehicles and therefore warrant special consideration. This paper describes the technological issues and key findings of the study. Recommended technology development needs are also presented. Because the suitability of lubricant and seal concepts must be evaluated in the context of a specific application, these technology programs are tied to advanced development of key system components. The mobility subsystem mechanisms on rover vehicles plus selected components of attached tools were determined to be essential elements which warrant advanced development in order to enhance reliability and decrease maintenance requirements. Accurate assessments of EVA, logistic support, and spare parts requirements cannot be accomplished until the advanced development programs near completion.

Ramsey, Paul S.↗

NASA NTRS1991

Satellite Repair Program

NASA-Goddard's Satellite Repair Program counts among its major achievements the successful use of welding in servicing equipment employed in the Flight Support System (FSS) structures addressed by the the Solar Maximum Repair Mission of 1984. The FSS berthing and positioning ring will again be employed with the Space Shuttle for the anticipated upgrading of the Hubble Space Telescope; the Explorer Platform (EP) mission will also use the FSS during the planned on-orbit exchange of the EUV Explorer payload for an X-ray Timing Explorer payload. The EP, to which attention is presently given, is the first spacecraft designed to be entirely serviceable by intravehicular activity or EVA.

Davis, Robert E.↗

NASA NTRS1992

Magnetic resonance imaging as a tool for extravehicular activity analysis

The purpose of this research is to examine the value of magnetic resonance imaging (MRI) as a means of conducting kinematic studies of the hand for the purpose of EVA capability enhancement. After imaging the subject hand using a magnetic resonance scanner, the resulting 2D slices were reconstructed into a 3D model of the proximal phalanx of the left hand. Using the coordinates of several landmark positions, one is then able to decompose the motion of the rigid body. MRI offers highly accurate measurements due to its tomographic nature without the problems associated with other imaging modalities for in vivo studies.

Dickenson, R.↗

NASA NTRS1992

Evolution design requirements and design strategy

Space Station Freedom (SSF) has undergone numerous design changes during the rephasing and restructuring activities occurring in 1989 and 1990/91, respectively. One direct result of these changes is that the Station has become more complex and compact which requires that future modifications to the Station be carefully planned and analyzed in conjunction with the baseline design process. This will ensure that the configuration has adequate design features and flexibility to accommodate the future capability and element upgrades. Six critical growth requirements (electrical power, thermal control, pressurized volume, structures, EVA equipment, and data management) have been identified and baselined in the Level I Program Requirements Document (PRD) and the Level II Program Definition and Requirements Document (PDRD). The approach to meeting the growth requirements will be to minimize the impact on the baseline design in the areas of weight, power, and development cost. The specifics of these requirements, with regard to scarring and implementation during the Follow-On and Evolution phases of SSF, are detailed in this paper.

Monell, D. W.↗

NASA NTRS1992

Requirements and applications for robotic servicing of military space systems

The utility of on-orbit servicing of spacecraft has been demonstrated by NASA several times using shuttle-based astronaut EVA. There has been interest in utilizing on-orbit servicing for military space systems as well. This interest has been driven by the increasing reliance of all branches of the military upon space-based assets, the growing numbers, complexity, and cost of those assets, and a desire to normalize support policies for space-based operations. Many military satellites are placed in orbits which are unduly hostile for astronaut operations and/or cannot be reached by the shuttle. In addition, some of the projected tasks may involve hazardous operations. This has led to a focus on robotic systems, instead of astronauts, for the basis of projected servicing systems. This paper describes studies and activities which will hopefully lead to on-orbit servicing being one of the tools available to military space systems designers and operators. The utility of various forms of servicing has been evaluated for present and projected systems, critical technologies have been identified, and strategies for the development and insertion of this technology into operational systems have been developed. Many of the projected plans have been adversely affected by budgetary restrictions and evolving architectures, but the fundamental benefits and requirements are well understood. A method of introducing servicing capabilities in a manner which has a low impact on the system designer and does not require the prior development of an expensive infrastructure is discussed. This can potentially lead to an evolutionary implementation of the full technology.

Ledford, Otto C., Jr.↗

NASA NTRS1992

Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.

Das, H.↗

NASA NTRS1992

Self mobile space manipulator project

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

Brown, H. Ben↗

NASA NTRS1992

Automated resupply of consumables: Enhancement of space commercialization opportunities

This paper addresses work performed at Rockwell International's Space Systems Division to investigate the feasibility of, and develop concepts for, automated and/or robotic resupply of consumables on orbit. The work focuses on the resupply of satellites and is described in five sections. First, the various problems relating the resupply on orbit are discussed: for example, economic concerns, fuel handling problems, and safety issues. Next major methods of effecting fuel transfer on orbit are summarized, together with their advantages and disadvantages. Direct fuel exchange is emphasized as the most feasible technique. Third, guidelines are developed for automated/robotic refueling mechanisms to accomplish on-orbit consumable resupply. For example, the guidelines cover safety, reliability, maintainability, alignment, induced loads, thermal protection, leaks, extravehicular activity (EVA) interface, and so on. The fourth part of the paper covers the development of design concepts for satellite resupply robotic interfaces that comply with the guidelines. Concepts include servicer fluid transfer system and satellite propulsion system, and a combined docking/umbilical device. Last, future technical development in these areas are discussed.

Manouchehri, Davoud↗

NASA NTRS1992

Skylab D024 thermal control coatings and polymeric films experiment

The Skylab D024 Thermal Control Coatings and Polymeric Films Experiment was designed to determine the effects of the external Skylab space environment on the performance and properties of a wide variety of selected thermal control coatings and polymeric films. Three duplicate sets of thermal control coatings and polymeric films were exposed to the Skylab space environment for varying periods of time during the mission. The specimens were retrieved by the astronauts during extravehicular activities (EVA) and placed in hermetically sealed return containers, recovered, and returned to the Wright Laboratory/Materials Laboratory/WPAFB, Ohio for analysis and evaluation. Postflight analysis of the three sets of recovered thermal control coatings indicated that measured changes in specimen thermo-optical properties were due to a combination of excessive contamination and solar degradation of the contaminant layer. The degree of degradation experienced over-rode, obscured, and compromised the measurement of the degradation of the substrate coatings themselves. Results of the analysis of the effects of exposure on the polymeric films and the contamination observed are also presented. The D024 results were used in the design of the LDEF M0003-5 Thermal Control Materials Experiment. The results are presented here to call to the attention of the many other LDEF experimenters the wealth of directly related, low earth orbit, space environmental exposure data that is available from the ten or more separate experiments that were conducted during the Skylab mission. Results of these experiments offer data on the results of low altitude space exposure on materials recovered from space with exposure longer than typical STS experiments for comparison with the LDEF results.

Lehn, William L.↗

NASA NTRS1993

A comparison of hand grasp breakaway strengths and bare-handed grip strengths of the astronauts, SML 3 test subjects, and the subjects from the general population

Astronauts have the task of retrieving and deploying satellites and handling massive objects in a around the payload bay. Concerns were raised that manual handling of such massive objects might induce loads to the shuttle suits exceeding the design-certified loads. The Crew and Thermal Division of NASA JSC simulated the satellite handling tasks (Satellite Manload Tests 1 and 3) and determined the maximum possible load that a suited member could impart onto the suit. In addition, the tests revealed that the load to the suit by an astronaut could be calculated from the astronaut's maximum hand grasp breakaway strength. Thus, this study was conducted to document that hand grasp breakaway strengths of the astronauts who were scheduled to perform EVA during the upcoming missions. In addition, this study verified whether the SML 3 test results were sufficient for documenting the maximum possible load. An attempt was made to predict grasp strength from grip strength and hand anthropometry. Based on the results from this study, the SML 3 test results were deemed sufficient to document the maximum possible load on the suit. Finally, prediction of grasp strength from grip strength was not as accurate as expected. Hence, it was recommended that grasp strength be collected from the astronauts in order to obtain accurate load estimation.

Rajulu, Sudhakar L.↗

NASA NTRS1992

Enabler operator station

The objective of this project was to design an onboard operator station for the conceptual Lunar Work Vehicle (LWV). This LWV would be used in the colonization of a lunar outpost. The details that follow, however, are for an earth-bound model. Several recommendations are made in the appendix as to the changes needed in material selection for the lunar environment. The operator station is designed dimensionally correct for an astronaut wearing the current space shuttle EVA suit (which includes life support). The proposed operator station will support and restrain an astronaut as well as provide protection from the hazards of vehicle rollover. The threat of suit puncture is eliminated by rounding all corners and edges. A step-plate, located at the front of the vehicle, provides excellent ease of entry and exit. The operator station weight requirements are met by making efficient use of grid members, semi-rigid members and woven fabrics.

Bailey, Andrea↗

NASA NTRS1992

SHARC: Space Habitat, Assembly and Repair Center

Integrated Space Systems (ISS) has taken on the task of designing a Space Habitat, Assembly and Repair Center (SHARC) in Low Earth Orbit to meet the future needs of the space program. Our goal is to meet the general requirements given by the 1991/1992 AIAA/LORAL Team Space Design competition with an emphasis on minimizing the costs of such a design. A baseline structural configuration along with preliminary designs of the major subsystems was created. Our initial mission requirements, which were set by AIAA, were that the facility be able to: support simultaneous assembly of three major vehicles; conduct assembly operations and minimal extra vehicular activity (EVA); maintain orbit indefinitely; and assemble components 30 feet long with a 10 foot diameter in a shirtsleeve environment.

Colangelo, Todd↗

NASA NTRS1991

In-Suit Doppler Technology Assessment

The objective of this program was to perform a technology assessment survey of non-invasive air embolism detection utilizing Doppler ultrasound methodologies. The primary application of this technology will be a continuous monitor for astronauts while performing extravehicular activities (EVA's). The technology assessment was to include: (1) development of a full understanding of all relevant background research; and (2) a survey of the medical ultrasound marketplace for expertise, information, and technical capability relevant to this development. Upon completion of the assessment, LSR was to provide an overview of technological approaches and R&D/manufacturing organizations.

Schulze, Arthur E.↗

NASA NTRS1991

Manned maneuvering unit applications for automated rendezvous and capture

Automated Rendezvous and Capture (AR&C) is an important technology to multiple National Aeronautics and Space Administration (NASA) programs and centers. The recent Johnson Spacecraft Center (JSC) AR&C Quality Function Deployment (QFD) has listed on-orbit demonstration of related technologies as a near term priority. Martin Marietta has been evaluating use of the Manned Maneuvering Unit (MMU) for a low cost near term on-orbit demonstration of AR&C technologies such as control algorithms, sensors, and processors as well as system level performance. The MMU Program began in 1979 as the method of repairing the Space Shuttle (STS) Thermal Protection System (the tiles). The units were not needed for this task, but were successfully employed during three Shuttle flights in 1984: a test flight was flown in in February as proof of concept, in April the MMU participated in the Solar Max Repair Mission, and in November the MMU's returned to space to successfully rescue the two errant satellites, Westar and Palapa. In the intervening years, the MMU simulator and MMU Qualification Test Unit (QTU) have been used for Astronaut training and experimental evaluations. The Extra-Vehicular Activities (EVA) Retriever has used the QTU, in an unmanned form, as a free-flyer on the Johnson Space Center (JSC) Precision Air Bearing Floor (PABF). Currently, the MMU is undergoing recertification for flight. The two flight units were removed from storage in September, 1991 and evaluation tests were performed. The tests demonstrated that the units are in good shape with no discrepancies that would preclude further use. The Return to Flight effort is currently clearing up recertification issues and evaluating the design against the present Shuttle environments.

Brehm, Donald L.↗