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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 NTRSDate not supplied

Designing a Software Architecture for the Precision Assembly of Space Structures

As NASA’s space exploration and science missions expand in complexity, longevity, anddistance beyond earth’s orbit, Orbital Servicing, Assembly and Manufacturing (OSAM)technologies and concepts have become a critical area of ongoing research and innovation.Artemis’ Moon-to-Mars goals of building sustainable elements on and around the Moon andMars that allow our robots and astronauts to explore and conduct more scientific researchwill demand in situ resource utilization, construction, and maintenance to succeed. In-spaceAssembly (ISA), as a sub-component of OSAM, focuses on the on-orbit building or fabricationof mission infrastructure and payloads. One such ISA application is highlighted by the recentNASA In-Space Assembled Telescope (iSAT) study, which stated that the next generation ofspace observatories will exceed the fairing size of existing or even planned launch vehicles andISA has emerged as a viable approach for observatory assembly. Research efforts at NASALangley Research Center have led to the design of a novel TriTruss structural concept for themodular construction of large complex persistent platforms. The TriTruss design and otherdeveloping OSAM technologies enable larger and persistent space missions that would notbe possible with single-launch-sized structures. For example, 20 meter or larger telescopesor orbital platform applications. However, the increased complexity will require autonomousoperations for the construction and maintenance of long-term infrastructure to achieve missionsuccess. NASA’s Precision Assembly of Space Structures (PASS) project is focused on thestructural and autonomy capabilities required to construct an iSAT in deep space. PASSresearch efforts will develop and validate critical technologies needed for effective efficienton-orbit assembly that can be confidently adopted for future systems. PASS will utilize theTriTruss modules to demonstrate the autonomous modular assembly of a 20m-class iSAT mirrorbackbone structure including simulated mirrors and wiring harness. In this paper, we addressthe software and hardware design considerations, technologies, and challenges of designing arobust robotics framework for assembling modular space structures in support of In SpaceAssembly missions in general as well as for PASS specifically.

Benjamin N Kelley↗

NASA NTRS2019

Persistent Assets in Zero-G and on Planetary Surfaces: Enabled by Modular Technology and Robotic Operations

Space operations are on the cusp of a revolutionary new operational paradigm that leverages modular systems and recurring robotic visits to “Persistent Assets” enabling asset maintenance, repair, and enhancement. A “Persistent Asset” is defined here as any zero-g or planetary surface system that benefits from in-space assembly (ISA) or multiple visits for servicing, repairs, and upgrades. This term is an extension of the term “Persistent Platform” used by Ms. Pam Melroy at the Defense Advanced Research Projects Agency to describe the vision of the Agency for a geosynchronous Earth orbiting platform. In this paper, the term “Persistent Asset” is introduced to encompass not only zero-g systems; such as telecommunication platforms, Earth observing science platform, Department of Defense platforms, and scientific telescope systems, but also planetary surface systems that support missions such as human outposts, science stations, and in-situ resource utilization systems. In contrast to the current state of the art, where space systems are typically launched as a single unit and operated without any further physical intervention after launch; future systems will be maintained, enhanced and reconfigured in-situ as new technology becomes available or mission needs change. Visits to the persistent asset can be regularly scheduled or dictated by funding constraints enabling a pay-as-you-go approach, which is largely independent of time-constraints and able to exploit launches of opportunity. In this paper, historical in-space assembly activities which relied heavily on astronaut extra-vehicular activity will be reviewed as well as early robotic assembly activities. These approaches will be contrasted with emerging modular approaches supporting realization of a new Persistent Asset operational paradigm. The paper will define attributes of the Persistent Asset paradigm and illustrate advantages by applying the paradigm to two relevant applications: 1) a large space telescope backing structure and 2) the backbone structure for a solar electric transport vehicle. Finally, recently developed unique Persistent Asset elements (modules, and interface approaches) will be described.

Doggett, William R.↗

NASA NTRS2018

Persistent Assets in Zero-G and on Planetary Surfaces: Enabled by Modular Technology and Robotic Operations

William R Doggett↗

DOE OSTI2020

The Dark Energy Spectrographic Instrument (DESI) Optical Fiber System

The specific research of the DESI project is to study in detail the expansion history of the Universe over the past 10 billion years. In order to do this, the project designed, fabricated, tested and commissioned the DESI instrument which has been deployed at the Mayall Telescope at the Kitt Peak National Observatory near Tucson, Arizona. The DESI project was conducted by approximately 30 US and foreign national laboratories. The complete instrument includes a prime focus corrector assembly, a focal plane with 5,000 optical fibers whose position can be set by robotic positioners, and ten spectrographs. Each spectrograph can accommodate the light from 500 fibers and include three color channels that are illuminated by a common collimator mirror and other planar transfer optics. In order for this entire system to work, optical fibers are required to connect each positioner to the spectrographs. Our CRADA with Durham University in the UK provided the 10 crucial fiber cables required to connect the DESI focal plane to the 10 spectrographs. The key major goals of this CRADA were achieved. Survey planning was another key component to the Durham contribution. Drs. Frenk, Baugh, Cole, Edge, Lacey, Li, Lucey, Massey, Metcalfe, Norberg and Shanks were all important contributors to the working groups to which they were assigned. Their work to implement emission lines and QSO in lightcone mocks, mocks for non-standard cosmologies/modified gravity, optimization of completeness of BGS in crowded regions and extended source photometry have been vital in the early planning for targets during commissioning. The major role in the project involved Dr. Ray Sharples and his team. They provided a significant portion of the design, fabrication and testing of the optical fiber system. In particular, they were responsible for the design, production of engineering drawings, component procurements, and fabrication of the 10 DESI Science fiber cables. Working in close collaboration with Dr. Claire Poppett, they also designed and fabricated the slit assemblies, the specialized termination of the groups of 500 fibers which plug into the spectrographs.

47 OTHER INSTRUMENTATION↗

NASA NTRS2014

ORDEM 3.0 and MASTER-2009 Modeled Small Debris Population Comparison

The latest versions of the two premier orbital debris engineering models, NASA's ORDEM 3.0 and ESA's MASTER-2009, have been publically released. Both models have gone through significant advancements since inception, and now represent the state-of-the-art in orbital debris knowledge of their respective agencies. The purpose of these models is to provide satellite designers/operators and debris researchers with reliable estimates of the artificial debris environment in low Earth orbit (LEO) to geosynchronous orbit (GEO). The small debris environment within the size range of 1 mm to 1 cm is of particular interest to both human and robotic spacecraft programs, particularly in LEO. These objects are much more numerous than larger trackable debris and can have enough momentum to cause significant, if not catastrophic, damage to spacecraft upon impact. They are also small enough to elude routine detection by existing observation systems (radar and telescope). Without reliable detection the modeling of these populations has always coupled theoretical origins with supporting observational data in different degrees. In this paper, we present and detail the 1 mm to 1 cm orbital debris populations from both ORDEM 3.0 and MASTER-2009 in LEO. We review population categories: particle sources for MASTER-2009, particle densities for ORDEM 3.0. We describe data sources and their uses, and supporting models. Fluxes on spacecraft for chosen orbits are also presented and discussed within the context of each model.

Krisko, P. H.↗

NASA NTRS2009

Robotics Algorithms Provide Nutritional Guidelines

On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

Source record↗

NASA NTRS2006

NASA Tech Briefs, April 2006

The topics covered include: 1) Replaceable Sensor System for Bioreactor Monitoring; 2) Unitary Shaft-Angle and Shaft-Speed Sensor Assemblies; 3) Arrays of Nano Tunnel Junctions as Infrared Image Sensors; 4) Catalytic-Metal/PdO(sub x)/SiC Schottky-Diode Gas Sensors; 5) Compact, Precise Inertial Rotation Sensors for Spacecraft; 6) Universal Controller for Spacecraft Mechanisms; 7) The Flostation - an Immersive Cyberspace System; 8) Algorithm for Aligning an Array of Receiving Radio Antennas; 9) Single-Chip T/R Module for 1.2 GHz; 10) Quantum Entanglement Molecular Absorption Spectrum Simulator; 11) FuzzObserver; 12) Internet Distribution of Spacecraft Telemetry Data; 13) Semi-Automated Identification of Rocks in Images; 14) Pattern-Recognition Algorithm for Locking Laser Frequency; 15) Designing Cure Cycles for Matrix/Fiber Composite Parts; 16) Controlling Herds of Cooperative Robots; 17) Modification of a Limbed Robot to Favor Climbing; 18) Vacuum-Assisted, Constant-Force Exercise Device; 19) Production of Tuber-Inducing Factor; 20) Quantum-Dot Laser for Wavelengths of 1.8 to 2.3 micron; 21) Tunable Filter Made From Three Coupled WGM Resonators; and 22) Dynamic Pupil Masking for Phasing Telescope Mirror Segments.

Source record↗

NASA NTRS2010

Flexible-Path Human Exploration

In the fourth quarter of 2009 an in-house, multi-center NASA study team briefly examined "Flexible Path" concepts to begin understanding characteristics, content, and roles of potential missions consistent with the strategy proposed by the Augustine Committee. We present an overview of the study findings. Three illustrative human/robotic mission concepts not requiring planet surface operations are described: assembly of very large in-space telescopes in cis-lunar space; exploration of near Earth objects (NEOs); exploration of Mars' moon Phobos. For each, a representative mission is described, technology and science objectives are outlined, and a basic mission operations concept is quantified. A fourth type of mission, using the lunar surface as preparation for Mars, is also described. Each mission's "capability legacy" is summarized. All four illustrative missions could achieve NASA's stated human space exploration objectives and advance human space flight toward Mars surface exploration. Telescope assembly missions would require the fewest new system developments. NEO missions would offer a wide range of deep-space trip times between several months and two years. Phobos exploration would retire several Marsclass risks, leaving another large remainder set (associated with entry, descent, surface operations, and ascent) for retirement by subsequent missions. And extended lunar surface operations would build confidence for Mars surface missions by addressing a complementary set of risks. Six enabling developments (robotic precursors, ISS exploration testbed, heavy-lift launch, deep-space-capable crew capsule, deep-space habitat, and reusable in-space propulsion stage) would apply across multiple program sequence options, and thus could be started even without committing to a specific mission sequence now. Flexible Path appears to be a viable strategy, with meaningful and worthy mission content.

Augustine↗

NASA NTRS2021

On-Board Model Based Fault Diagnosis for CubeSat Attitude Control Subsystem: Flight Data Results

Self-sufficient, robotic spacecraft require estimates of their hardware health state in order to project future system state and plan actions toward achieving mission goals. In this paper, we report on integration of a Model-Based Fault Diagnosis (MBFD) model and reasoning engine into flight software leveraging the Arcsecond Space Telescope Enabling Research in Astrophysics (ASTERIA) mission, including test results against captured flight data using the ASTERIA system testbed. Our effort integrated the Model-based Off-Nominal State Identification and Detection (MONSID) model-based reasoning system, developed by Okean Solutions, into ASTERIA flight software using the F Prime software framework. The MONSID engine was supplied with a model of the Blue Canyon Technologies XACT attitude control system (ACS) and tested against flight data and seeded fault tests. While we were unable to conduct an on-board experiment due to the premature loss of ASTERIA, our effort proved the feasibility of on-board model-based fault management, demonstrating reliable and accurate diagnosis using captured data, and further supporting a closed-loop spacecraft autonomy demonstration including autonomous navigation in off-nominal conditions.

Prather, Maurice↗

NASA NTRS2005

System Design and Performance of the Two-Gyro Science Mode For the Hubble Space Telescope

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST's end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.

Prior, Michael↗

NASA NTRS2005

System Design and Performance of the Two-Gyro Science Mode For the Hubble Space Telescope

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST s end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.

Prior, Michael↗

NASA NTRS2011

Prospects for Interdisciplinary Science Aboard the International Space Station

The assembly of the International Space Station was completed in early 2011, and is now embarking on its first year of the coming decade of use as a laboratory. Two key types of physical science research are enabled by ISS: studies of processes that are normally masked by gravity, and instruments that take advantage of its position as a powerful platform in orbit. The absence of buoyancy-driven convection enables experiments in diverse areas such as fluids near the critical point, Marangoni convection, combustion, and coarsening of metal alloys. The positioning of such a powerful platform in orbit with robotic transfer and instrument support also provides a unique alternative platform for astronomy and physics instruments. Some of the operating or planned instruments related to fundamental physics on the International Space Station include MAXI (Monitoring all-sky X-ray Instrument for ISS), the Alpha Magnetic Spectrometer, CALET (Calorimetric Electron Telescope), and ACES (Atomic Clock Experiment in Space). The presentation will conclude with an overview of pathways for funding different types of experiments from NASA funding to the ISS National Laboratory, and highlights of the streamlining of services to help scientists implement their experiments on ISS.

Robinson, Julie A.↗

NASA NTRS2002

Innovations in Mission Architectures for Human and Robotic Exploration Beyond Low Earth Orbit

Through the application of advanced technologies, mission concepts, and new ideas in combining capabilities, architectures for missions beyond Earth orbit have been dramatically simplified. These concepts enable a stepping stone approach to discovery driven, technology enabled exploration. Numbers and masses of vehicles required are greatly reduced, yet enable the pursuit of a broader range of objectives. The scope of missions addressed range from the assembly and maintenance of arrays of telescopes for emplacement at the Earth-Sun L2, to Human missions to asteroids, the moon and Mars. Vehicle designs are developed for proof of concept, to validate mission approaches and understand the value of new technologies. The stepping stone approach employs an incremental buildup of capabilities; allowing for decision points on exploration objectives. It enables testing of technologies to achieve greater reliability and understanding of costs for the next steps in exploration.

Cooke, Douglas R.↗

NASA NTRS1998

Differential Absorption Lidar (DIAL) Measurements of Atmospheric Water Vapor Utilizing Robotic Aircraft

A new unpiloted air vehicle (UAV) based water vapor DIAL system will be described. This system is expected to offer lower operating costs, longer test duration and severe weather capabilities. A new high-efficiency, compact, light weight, diode-pumped, tunable Cr:LiSAF laser will be developed to meet the UAV payload weight and size limitations and its constraints in cooling capacity, physical size and payload. Similarly, a new receiver system using a single mirror telescope and an avalanche photo diode (APD) will be developed. Projected UAV parameters are expected to allow operation at altitudes up to 20 km, endurance of 24 hrs and speed of 400 km/hr. At these conditions measurements of water vapor at an uncertainty of 2-10% with a vertical resolution of 200 m and horizontal resolution of 10 km will be possible.

Hoang, Ngoc↗

NASA NTRS1991

Telerobotic capabilities for space operations

This paper presents a summary of tests involving either pure telerobotics, or telerobots in conjunction with extravehicular activity, applied to some of the servicing tasks of the Hubble Space Telescope (HST). This research was conducted in a neutral buoyancy environment, using the high fidelity mockup used for astronaut crew training, along with two telerobots developed in the Space Systems Laboratory. These tests showed that current telerobots are capable of a limited subset of tasks required for EVA servicing of HST, and that specific developments in robotic capability are required, particularly in high torque output and positioning in constrained volumes, before the telerobotic systems are capable replacements to EVA. A more immediately promising application is the use of telerobots to enhance and extend the EVA capabilities, by acting as 'assistants' to the EVA crewmen performing the dexterous and high-force tasks.

Akin, David L.↗

NASA NTRS1994

Retractable Rotary Tool With Simplified Latch

Retractable rotary tool part of robot hand. Similar to one described in "Retractable Rotary-Bit Tool" (GSC-13358), except it includes simpler mechanism for retention in, and release from, retracted position. Conical head at upper end of tool bit latched in retracted position by catch springs. Eccentric neck just below head makes possible to release head from catch springs by rotating telescoping tubular sections and tool bit.

Voellmer, George↗

NASA NTRS2015

Design Development of a Combined Deployment and Pointing System for the International Space Station Neutron Star Interior Composition Explorer Telescope

This paper describes the design of a unique suite of mechanisms which make up the Deployment and Pointing System (DAPS) for the Neutron Star Interior Composition Explorer (NICER/SEXTANT) instrument, an X-Ray telescope, which will be mounted on the International Space Station (ISS). The DAPS system uses 4 stepper motor actuators to deploy the telescope box, latch it in the deployed position, and allow it to track sky targets. The DAPS gimbal architecture provides full-hemisphere coverage, and is fully re-stowable. The compact design of the mechanism allowed the majority of total instrument volume to be used for science. Override features allow DAPS to be stowed by ISS robotics.

NICER Pointing↗