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A first approximation level computer simulator for telerobotic assembly of large space structures is described. Approach, methodology and initial results are presented. An example based on simulation of automated assembly of basic structure for the Space Station is discussed.
An on-orbit servicer system has unique functional and human factors requirements. The servicing, whether it be teleoperation task, a supervised control task or an autonomous robotic task, the man-machine interface function is likely to be a bottleneck to the operation of the whole system. The man-machine interface system for a space servicer, namely the operator control station, includes several subsystems with a hierarchical architecture. Those subsystems include a reasoning and planning subsystem (also known as the artificial intelligence planner), a run-time control subsystem, a manipulator control and mechanization subsystem, and a sensing and perception subsystem. Indicative of these potentials, certain generic tasks, suggestive of space assembly, maintenance and repair, were performed in a testbed environment. Through performance in several modes: direct teleoperation, shared control, traded control, and robotic operation, the benefits of the individual technology contributions to the operation were quantized and recommendations for use in telerobotic systems were established.
Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.
This document contains a mixture of tools and equipment used throughout the space shuttle-based extravehicular activity (EVA) program. Promising items which have reached the prototype stage of development are also included, but should not be considered certified ready for flight. Each item is described with a photo, a written discussion, technical specifications, dimensional drawings, and points of contact for additional information. Numbers on the upper left-hand corner of each photo may be used to order specific pictures from NASA and contractor photo libraries. Points of contact were classified as either operational or technical. An operational contact is an engineer from JSC Mission Operations Directorate who is familiar with the basic function and on-orbit use of the tool. A technical contact would be the best source of detailed technical specifications and is typically the NASA subsystem manager. The technical information table for each item uses the following terms to describe the availability or status of each hardware item: Standard - Flown on every mission as standard manifest; Flight specific - Potentially available for flight, not flown every mission (flight certification cannot be guaranteed and recertification may be required); Reference only - Item no longer in active inventory or not recommended for future use, some items may be too application-specific for general use; and Developmental - In the prototype stage only and not yet available for flight. The current availability and certification of any flight-specific tool should be verified with the technical point of contact. Those tools built and fit checked for Hubble Space Telescope maintenance are program dedicated and are not available to other customers. Other customers may have identical tools built from the existing, already certified designs as an optional service.
The STS-101 Space Shuttle Atlantis Assembly Flight International Space Station (ISS) -2A-2a mission begins with Commander Jim Halsell, and mission specialists Jeff Williams and Yuri Usachev talking briefly to the media. Pilot Scott Horowitz, and Mission Specialists Susan Helms, James Voss, and Mary Ellen Weber are shown arriving later to take crew photos. Footage of the entire STS-101 crew is shown getting suited and departing the Operations and Checkout (O&C) Building. Views of the actual launch of the Space Shuttle Atlantis are presented from the vehicle assembly building (VAB), PAD-A, Tower 1, Universal Camera Sites (UCS) 15 and 23 and Press sites. Jeff Williams and James Voss are shown on orbit performing a single space walk to complete maintenance to the International Space Station. A nighttime touchdown of the Space Shuttle Atlantis is also presented.
Optimizing performance on work activities and processes requires metrics of performance for management to monitor and analyze in order to support further improvements in efficiency, effectiveness, safety, reliability and cost. Information systems are therefore required to assist management in making timely, informed decisions regarding these work processes and activities. Currently information systems regarding Space Shuttle maintenance and servicing do not exist to make such timely decisions. The work to be presented details a system which incorporates various automated and intelligent processes and analysis tools to capture organize and analyze work process related data, to make the necessary decisions to meet KSC organizational goals. The advantages and disadvantages of design alternatives to the development of such a system will be discussed including technologies, which would need to bedesigned, prototyped and evaluated.
Experience and knowledge gained from ongoing maintenance of Space Shuttle Flight Software and new development projects including Cockpit Avionics Upgrade are applied to projected needs of the National Space Exploration Vision through Spiral 2. Lessons learned from these current activities are applied to create a sustainable, reliable model for development of critical software to support Project Constellation. This presentation introduces the technologies, methodologies, and infrastructure needed to produce and sustain high quality software. It will propose what is needed to support a Vision for Space Exploration that places demands on the innovation and productivity needed to support future space exploration. The technologies in use today within FSW development include tools that provide requirements tracking, integrated change management, modeling and simulation software. Specific challenges that have been met include the introduction and integration of Commercial Off the Shelf (COTS) Real Time Operating System for critical functions. Though technology prediction has proved to be imprecise, Project Constellation requirements will need continued integration of new technology with evolving methodologies and changing project infrastructure. Targets for continued technology investment are integrated health monitoring and management, self healing software, standard payload interfaces, autonomous operation, and improvements in training. Emulation of the target hardware will also allow significant streamlining of development and testing. The methodologies in use today for FSW development are object oriented UML design, iterative development using independent components, as well as rapid prototyping . In addition, Lean Six Sigma and CMMI play a critical role in the quality and efficiency of the workforce processes. Over the next six years, we expect these methodologies to merge with other improvements into a consolidated office culture with all processes being guided by automated office assistants. The infrastructure in use today includes strict software development and configuration management procedures, including strong control of resource management and critical skills coverage. This will evolve to a fully integrated staff organization with efficient and effective communication throughout all levels guided by a Mission-Systems Architecture framework with focus on risk management and attention toward inevitable product obsolescence. This infrastructure of computing equipment, software and processes will itself be subject to technological change and need for management of change and improvement,
The Environmental Health System (EHS) on International Space Station (ISS) includes portable instruments to measure various cabin gases that acutely impact crew health. These hand-held devices measure oxygen, carbon dioxide, carbon monoxide, hydrogen chloride and hydrogen cyanide. The oxygen and carbon dioxide units also serve to back up key functions of the Major Constituent Analyzers. Wherever possible, commercial off-the-shelf (COTS) devices are employed by EHS to save development and sustaining costs. COTS hardware designed for general terrestrial applications however has limitations such as no pressure compensation, limited life of the active sensor, calibration drift, battery issues, unpredictable vendor support and obsolescence. The EHS fleet (inflight and ground inventory) of instruments is both aging and dwindling in number. With the retirement of the US Space Shuttle, maintenance of on-orbit equipment becomes all the more difficult. A project is underway to search for gas monitoring technology that is highly reliable and stable for years. Tunable Diode Laser Spectroscopy (TDLS) seems to be the front-runner technology, but generally is not yet commercially available in portable form. NASA has fostered the development of TDLS through the Small Business Innovative Research (SBIR) program. A number of gases of interest to the aerospace and submarine communities can be addressed by TDLS including the list mentioned above plus hydrogen fluoride, ammonia and water (humidity). There are several different forms of TDLS including photoacoustic and direct absorption spectroscopy using various multipass cell geometries. This paper describes the history of portable gas monitoring on NASA spacecraft and provides a status of the development of TDLS based instruments. Planned TDLS flight experiments on ISS could lead both to operational use on ISS and important roles in future Exploration spacecraft and habitats.
The International Space Station (ISS) Environmental Control and Life Support System (ECLSS) is designed to be maintainable. During the 3 years since the ISS US Lab became operational, there have been numerous ECLSS Orbital Replacement Units (ORUs) launched and returned to Maintain the ECLSS operation in the US segments. The maintenance logistics have provided tools for maintenance, replaced limited life ORUs and failed ORUs, upgraded ECLSS hardware to improve reliability and placed critical spares onboard prior to need. In most cases, the removed ORUs have been returned for either failure analysis and repair or refurbishment. This paper describes the ECLSS manifesting history and maintenance events and quantifies the numbers of ECLSS items, weights, and volumes.
The International Space Station (ISS) has an operational mission and profile that makes it a Logistics and Maintenance (L&M) support challenge different from previous programs. It is permanently manned, assembled on orbit, and multi-national. With this technical and operational challenge, a unique approach is needed to support the hardware and crew. The key is the integration of on-orbit and ground analysis, supply, maintenance, and crew training into a coherent functional process that supports ISS goals and objectives. To integrate all the necessary aspects of hardware and personnel to support on-orbit maintenance, a myriad of products and processes must be created and coordinated, such that the right resources are in the right place at the right time to ensure continued ISS functionality. This paper will familiarize the audience with ISS On-Orbit Maintenance (OOM) concepts and capabilities for different maintenance tasks and discuss some of the logic behind their selection. It will also identify the operational maintenance support responsibility split between the U.S. and the various International Partners (IPs).
The prospect of undertaking a reusable launch vehicle development led the NASA Office of Manned Space Flight (OMSF) to request the Office of Advanced Research and Technology (OART) to organize and direct a program to develop the technology that would aid in selecting the best system alternatives and that would support the ultimate development of an earth-to-orbit shuttle. Such a Space Transportation System Technology Program has been initiated. OART, OMSF, and NASA Flight and Research Centers with the considerable inputs of Department of Defense personnel have generated the program through the efforts of several Technology Working Groups and a Technology Steering Group. Funding and management of the recommended efforts is being accomplished through the normal OART and OMSF line management channels. The work is being done in government laboratories and under contract with industry and universities. Foreign nations have been invited to participate in this work as well. Substantial funding, from both OART and OMSF, was applied during the second half of fiscal year 1970. The Space Transportation System Technology Symposium held at the NASA Lewis Research Center, Cleveland, Ohio, July 15-17, 1970, was the first public report on that program. The Symposium goals were to consider the technology problems, their status, and the prospective program outlook for the benefit of the industry, government, university, and foreign participants considered to be contributors to the program. In addition, it offered an opportunity to identify the responsible individuals already engaged in the program. The Symposium sessions were intended to confront each presenter with his technical peers as listeners, and this, I believe, was substantially accomplished. Because of the high interest in the material presented, and also because the people who could edit the output are already deeply involved in other important tasks, we have elected to publish the material essentially as it was presented, utilizing mainly the illustrations used by the presenters along with brief words of explanation. Those who heard the presentations, and those who are technically astute in specialty areas, can probably put this story together again. We hope that more will be gained by compiling the information in this form now than by spending the time and effort to publish a more finished compendium later.
Conference on ground operations, flight operations, and safety for space shuttle program - Vol. 1
NASA's space shuttle fleet is nearing its return to flight with a complex mission on board Discovery that will combine tests of new hardware and procedures adopted in the wake of Columbia's loss with urgent repairs and resupply for the International Space Station. A seven-member astronaut crew has trained throughout most of the two-year hiatus in shuttle operations for the 13-day mission, shooting for a three-week launch window that opens May 15. The window, and much else about the STS-114 mission, is constrained by NASA's need to ensure it has fixed the ascent/debris problem that doomed Columbia and its crew as they attempted to reenter the atmosphere on Feb. 1, 2003. The window was selected so Discovery's ascent can be photographed in daylight with 107 different ground- and aircraft-based cameras to monitor the redesigned external tank for debris shedding. Fixed cameras and the shuttle crew will also photograph the tank in space after it has been jettisoned.
The Flight Dynamics Officer is responsible for trajectory maintenance of the Space Shuttle. This paper will cover high level operational considerations, methodology, procedures, and lessons learned involved in performing the functions of orbit and rendezvous Flight Dynamics Officer and leading the team of flight dynamics specialists during different phases of flight. The primary functions that will be address are: onboard state vector maintenance, ground ephemeris maintenance, calculation of ground and spacecraft acquisitions, collision avoidance, burn targeting for the primary mission, rendezvous, deorbit and contingencies, separation sequences, emergency deorbit preparation, mass properties coordination, payload deployment planning, coordination with the International Space Station, and coordination with worldwide trajectory customers. Each of these tasks require the Flight Dynamics Officer to have cognizance of the current trajectory state as well as the impact of future events on the trajectory plan in order to properly analyze and react to real-time changes. Additionally, considerations are made to prepare flexible alternative trajectory plans in the case timeline changes or a systems failure impact the primary plan. The evolution of the methodology, procedures, and techniques used by the Flight Dynamics Officer to perform these tasks will be discussed. Particular attention will be given to how specific Space Shuttle mission and training simulation experiences, particularly off-nominal or unexpected events such as shortened mission durations, tank failures, contingency deorbit, navigation errors, conjunctions, and unexpected payload deployments, have influenced the operational procedures and training for performing Space Shuttle flight dynamics operations over the history of the program. These lessons learned can then be extended to future vehicle trajectory operations.
Ada will most probably be used as the programming language for computers in the NASA Space Station. It is reasonable to suppose that Ada will be used for at least embedded computers, because the high software costs for these embedded computers were the reason why Ada activities were initiated about ten years ago. The on-board computers are designed for use in space applications, where maintenance by man is impossible. All manipulation of such computers has to be performed in an autonomous way or remote with commands from the ground. In a manned Space Station some maintenance work can be performed by service people on board, but there are still a lot of applications, which require autonomous computers, for example, vital Space Station functions and unmanned orbital transfer vehicles. Those aspect which have come out of the analysis of Ada characteristics together with the experience of requirements for embedded on-board computers in space applications are examined.
The safety and survival of the crewmembers has been the prime concern of NASA. Previous studies have been conducted mainly for emergencies occurring during the operating mode of the fully assembled Station. The present study was conducted to evaluate the emergency requirements for the caution and warning, logistics, maintenance, and assembly stage MB-6 of the Station in space. Effective caution and warning is essential to achieve safe egress in emergencies. In order to survive a long period in space, the safety and emergency requirements for maintenance, logistics, and extravehicular assembly operation in space must be met.
A significant percentage of the maintenance tasks for Space Station Freedom are anticipated to be conducted in the unpressurized environment. The maintenance concept for this environment essentially involves the removal and replacement of relatively large orbital replacement units (ORUs). Major constraints will be the on-orbit availability of both crew time and spare ORUs. The challenge presented to the program will be the performance of unpressurized cargo resupply that provides maximum cargo-carrying capability (mass and volume) and flexibility (type and quantity), while minimizing the impact to maintenance task times. The design of the logistics carriers is a critical component for successful resupply and maintenance operations, and to the success of Space Station Freedom.
The engineering model resistojet intended for altitude maintenance onboard the space station was tested for magnetic radiation emissions in the Radio Frequency Interference (RFI) facility at the Goddard Space Flight Center. The resistojet heater was supplied with power at 20 kHz and low voltage through a power controller. The resistojet was isolated from its power supply in the RFI enclosure, and the magnetic emission measured at three locations around the resistojet at various heater currents. At a heater current of 18.5 A the maximum magnetic emission was 61 dBpt at a distance of 1 m from the resistojet and at a location at the rear of the thruster. Calculations indicate that the case and heat shields provided a minimum of 4 dB of attenuation at a current of 18.5 A. Maximum radiation was measured at the rear of the resistojet along its major axis and was thought to be due to the magnetic radiation from the power leads. At a distance of 37 cm from the resistojet the maximum magnetic radiation measured was 73 dBpt at a current of 11.2 A. The power input leads were also a source of magnetic radiation. The engineering model rssistojet requires about 20 dB of additional shielding.