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At least 1,765 records · Page 98
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS1994

Pip pin reliability and design

Pip pins are used in many engineering applications. Of particular interest to the aerospace industry is their use in various mechanism designs. Many payloads that fly aboard our nation's Space Shuttle have at least one actuated mechanism. Often these mechanisms incorporate pip pins in their design in order to fasten interfacing parts or joints. Pip pins are most often used when an astronaut will have a direct interface with the mechanism. This interfacing can be done during Space Shuttle mission EVA's (ExtraVehicular Activity). The main reason for incorporating pip pins is convenience and their ability to provide a quick release for interfacing parts. However, there are some issues that must be taken into account when using them in a design. These issues include documented failures and quality control problems when using substandard pip pins. A history of pip pins as they relate to the aerospace industry as well as general design features is discussed.

Skyles, Lane P.↗
NASA NTRS1994

The PLAID graphics analysis impact on the space program

An ongoing project design often requires visual verification at various stages. These requirements are critically important because the subsequent phases of that project might depend on the complete verification of a particular stage. Currently, there are several software packages at JSC that provide such simulation capabilities. We present the simulation capabilities of the PLAID modeling system used in the Flight Crew Support Division for human factors analyses. We summarize some ongoing studies in kinematics, lighting, EVA activities, and discuss various applications in the mission planning of the current Space Shuttle flights and the assembly sequence of the Space Station Freedom with emphasis on the redesign effort.

Nguyen, Jennifer P.↗
NASA NTRS1994

Dual-cycle ergometry as an exercise modality during prebreathe with 100 percent oxygen

In an effort to reduce prebreathe time requirements prior to extravehicular activities and high-altitude flights, a combined arm and leg exercise task proposes to enhance denitrogenation by incorporation of both upper and lower body musculature at a moderately high work intensity during prebreathe with 100% oxygen. Preliminary findings indicated peak oxygen consumption (VO2peak) levels attained on the dual-cycle ergometer do not differ significantly from those levels attained on the treadmill. Eight male subjects were exercised to VO2peak using leg-only cycle ergometry and dual-cycle ergometry on separate days. Preliminary data during dual-cycle ergometry showed arm work equaling 30% of the leg workrate at each stage of the incremental test resulted in arm fatigue in several subjects and a reduced VO2peak compared to dual-cycle ergometry with arm work at 20%. Thus, the 20% workrate was used during the dual-cycle VO2peak trial. On a third experimental day, subjects performed a 10 minute exercise test at a workrate required to elicit 75% of VO2peak for each subject on the dual-cycle ergometer. Blood lactate response to the exercise was monitored as an objective measure of fatigue. Peak VO2 levels attained on the leg-only and the dual-cycle ergometry tasks were not significantly different. Blood lactate levels were significantly elevated following the dual-cycle ergometry at 75% VO2peak. However, lactate levels show the expected rate of decline during recovery and, as demonstrated in the literature, should return to baseline levels within 30 minutes following exercise cessation. Thus, dual-cycle ergometry at 75% VO2peak appears to be a valid exercise for use during prebreathe and should not contribute to fatigue during subsequent EVA's.

Heaps, Cristine L.↗
NASA NTRS1994

Exercise with prebreathe appears to increase protection from decompression sickness: Preliminary findings

Extravehicular activity (EVA) from the Space Shuttle involves one hour of prebreath with 100% oxygen, decompression of the entire Shuttle to 10.2 psia for at least 12 hours, and another prebreath for 40 minutes before decompression to the 4.3 psia suit pressure. We are investigating the use of a one-hour prebreathe with 100% oxygen beginning with a ten-minute strenuous exercise period as an alternative for the staged decompression schedule described above. The 10-minute exercise consists of dual-cycle ergometry performed at 75% of the subject's peak oxygen uptake to increase denitrogenation efficiency by increasing ventilation and perfusion. The control exposures were preceded by a one-hour prebreathe with 100% oxygen while resting in a supine position. The twenty-two male subjects were exposed to 4.3 psia for 4 hours while performing light to moderate exercise. Preliminary results from 22 of the planned 26 subjects indicate 76% DCS following supine, resting prebreathe and 38% following prebreathe with exercise. The staged decompression schedule has been shown to result in 23% DCS which is not significantly different from the exercise-enhanced prebreathe results. Prebreathe including exercise appears to be comparable to the protection afforded by the more lengthy staged decompression schedule. Completion of the study later this year will enable planned statistical analysis of the results.

Webb, James T.↗
NASA NTRS1994

Personal cooling systems: Possibilities and limitations

Personal thermal control by means of gas- or liquid-conditioned garments was developed during the 1960s and has been applied in a variety of aerospace and industrial settings. Both USAF fighter pilots and astronauts are required to wear heavy protective clothing which insulates them from the environment and thus creates stress through storage of metabolic heat. The problem is particularly severe in astronauts who perform heavy physical work during extra-vehicular activity (EVA); without artificial cooling they could reach incapacitating hyperthermia in a matter of minutes. This paper reviews the factors which influence the design of personal cooling systems. An important early step is determination of acceptable heat stress level, taking into account possible interactions of heat stress with other physiological problems such as motion sickness, diminished plasma volume, decompression sickness and acceleration tolerance. Other factors which require consideration include the work schedule, the area to be covered by the cooling garment, and the practicalities of a fixed or body-mounted heat sink and its power source. Nearly every imaginable heat sink has been proposed or tried over the past 30 years, including direct gas systems, phase-change systems with open or closed loops and thermoelectric heat sinks. The latter are now the system of choice for aircraft.

Nunneley, Sarah A.↗
NASA NTRS1994

Current and future issues in USAF full pressure suit research and development

Although the full pressure suits currently in the USAF operational inventory provide acceptable performance and crew protection for these missions, there is considerable room for improvement, especially in the areas of comfort, mobility, glove and helmet performance, and maintenance/supportability. As future aircraft push the envelope towards operations at higher and higher altitudes and transatmospheric flight, advances in full pressure suit technology will be needed. Also, enhanced pressure suit technology will be required to meet NASA's need for protection during future EVA operations for both on-orbit and planetary surface missions. This presentation will review the results of efforts at the Armstrong Laboratory to develop and demonstrate advanced full pressure suit technology for use in future high-altitude reconnaissance aircraft and transatmospheric vehicle operations. For those readers who may not be familiar with this area of life support equipment, a brief review of the important physiological and operational requirements for full pressure suits used in these applications will be addressed first, followed by a summary of the current state-of-the-art in USAF pressure suit technology. Ongoing and recently completed work on enhanced mobility pressure suit joints and improved pressure suit gloves will then be reviewed. The presentation will conclude with discussion of the technical challenges for successful development of an advanced full pressure suit for aerospace operations in the 21st century.

Scoggins, Terrell E.↗
NASA NTRS1994

Robotic technologies of the Flight Telerobotic Servicer (FTS) including fault tolerance

The original FTS concept for Space Station Freedom (SSF) was to provide telerobotic assistance to enhance crew activity and safety and to reduce crew EVA (Extra Vehicular Activity) activity. The first flight of the FTS manipulator systems would demonstrate several candidate tasks and would verify manipulator performance parameters. These first flight tasks included unlocking a SSF Truss Joint, mating/demating a fluid coupling, contact following of a contour board, demonstrating peg-in-hole assembly, and grasping and moving a mass. Future tasks foreseen for the FTS system included ORU (Orbit Replaceable Unit) change-out, Hubble Space Telescope Servicing, Gamma Ray Observatory refueling, and several in-situ SSF servicing and maintenance tasks. Operation of the FTS was planned to evolve from teleoperation to fully autonomous execution of many tasks. This wide range of mission tasks combined with the desire to evolve toward fully autonomy forced several requirements which may seen extremely demanding to the telerobotics community. The FTS requirements appear to have been created to accommodate the open-ended evolution plan such that operational evolution would not be impeded by function limitations. A recommendation arising from the FTS program to remedy the possible impacts from such ambitious requirements is to analyze candidate robotic tasks. Based on these task analyses, operational impacts against development impacts were weighed prior to requirements definition. Many of the FTS requirements discussed in the following sections greatly influenced the development cost and schedule of the FTS manipulator. The FTS manipulator has been assembled at Martin Marietta and is currently in testing. Successful component tests indicate a manipulator which achieves unprecedented performance specifications.

Chladek, John T.↗
NASA NTRS1994

The servicing aid tool: A teleoperated robotics system for space applications

The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.

Dorman, Keith W.↗
NASA NTRS1983

Structural assembly demonstration experiment, phase 1

The goal of this phase of the structural assembly and demonstration experiment (SADE) program was to begin to define a shuttle flight experiment that would yield data to compare on-orbit assembly operations of large space structures with neutral buoyancy simulations. In addition, the experiment would be an early demonstration of structural hardware and human capabilities in extravehicular activity (EVA). The objectives of the MIT study, as listed in the statement of work, were: to provide support in establishing a baseline neutral buoyancy testing data base, to develop a correlation technique between neutral buoyancy test results and on-orbit operations, and to prepare the SADE experiment plan (MSFC-PLAN-913).

Akin, David L.↗
NASA NTRS1993

Breathing 100 percent oxygen compared with 50 percent oxygen:50 percent nitrogen reduces altitude-induced venous gas emboli

The study investigates effects of 40 zero-prebreathe decompressions of male subjects to 8.3-6.8 psia for 6 h while they were breathing 100 percent oxygen and performing moderate exercise. No decompression sickness (DCS) symptoms were observed. Severe venous gas emboli (VGE) were not detected at 8.3 psia, but were present during 10, 20, and 40 percent of the exposures at 7.8, 7.3, and 6.8 psia, respectively. Zero-prebreathe decompression while breathing 100 percent oxygen results in significantly lower VGE and DCS risk levels than while breathing a 50:50 mix. It is shown that 7.3 psia EVA pressure suits with 100 percent oxygen should be safer than 8.3 psia suits with a 50:50 mix.

Webb, James T.↗
NASA NTRS1993

Design and control of a hand exoskeleton for use in extravehicular activities

To counter problems inherent in extravehicular activities (EVA) and complex space operations, an exoskeleton, a unique adaptive structure, has been designed. The exoskeleton fits on the hand and powers the proximal and middle phalanges of the index finger, the middle finger, and the combined ring and little finger. A kinematic analysis of the exoskeleton joints was performed using the loop-closure method. This analysis determined the angular displacement and velocity relationships of the exoskeleton joints. This information was used to determine the output power of the exoskeleton. Three small DC motors (one for each finger) are used to power the exoskeleton. The motors are mounted on the forearm. Power is transferred to the exoskeleton using lead screws. The control system for the exoskeleton measures the contact force between the operator and the exoskeleton. This information is used as the input to drive the actuation system. The control system allows the motor to rotate in both directions so that the operator may close or open the exoskeleton.

Shields, B.↗
NASA NTRS1992

Space Station Freedom assembly sequence - History, methods, and status

The goal of SSF assembly sequence design is to yield an operations-capable configuration at each stage of construction. Among the primary considerations of sequence designers are launcher payload-mass constraints, EVA time capabilities, and the ensuring of sufficient functionality at each construction stage. Trade studies are conducted to examine alternative hardware-delivery sequences; every iteration of this process either refines existing margins or reflects the redesign of one of the various elements.

Wanagas, John D.↗
NASA NTRS1994

Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

Li, Larry↗
NASA NTRS1972

Apollo 16: Nothing So Hidden

This film shows the landing and the three lunar traverses in the highland region of the moon, near the crater descartes. It includes an astronaut's eye view from the rover, lunar grand prix, discovery of the house-sized rock, lunar lift-off and eva 173,000 miles above the earth. Microphones and cameras in mission control record the emergency problem solving during the prelanding crisis and the reactions of scientists on earth as the astronauts explore the moon.

Source record↗
NASA NTRS1992

Houston, I Think We've Got a Satellite

This video highlights the record breaking mission of STS-49, the maiden voyage of the Space Shuttle Endeavor. It includes the dramatic capture, repair, and reboost of the INTELSAT VI Satellite, as well as the ASEM experiment. The effectiveness of certain EVA techniques for the future construction of a space station is demonstrated.

Source record↗
NASA NTRS1994

Design considerations for a Space Station radiation shield for protection from both man-made and natural sources

This study was conducted to analyze scenarios involving the use of nuclear-power vehicles in the vicinity of a manned Space Station (SS) in low-earth-orbit (LEO) to quantify their radiological impact to the station crew. In limiting the radiant dose to crew members, mission planners may (1) shut the reactor down prior to reentry, (2) position the vehicle at a prescribed parking distance, and (3) deploy radiation shield about the shutdown reactor. The current report focuses on the third option in which point-kernel gamma-ray shielding calculations were performed for a variety of shield configurations for both nuclear electric propulsion (NEP) and nuclear thermal rocket (NTR) vehicles. For a returning NTR vehicle, calculations indicate that a 14.9 MT shield would be needed to limit the integrated crew exposure to no more than 0.05 Sv over a period of six months (25 percent of the allowable exposure to man-made radiation sources). During periods of low vehicular activity in LEO, the shield may be redeployed about the SS habitation module in order to decrease crew exposures to trapped proton radiations by approximately a factor of 10. The corresponding shield mass required for deployment at a returning NEP vehicle is 2.21 MT. Additional scenarios examined include the radioactivation of various metals as might be found in tools used in EVA activities.

Bolch, Wesley E.↗