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NASA NTRS2015

Flexible Electrostatic Technology for Capture and Handling Project

To NASA unfunded & planned missions: This new capability to sense proximity, flexibly align to, and attractively grip and capture practically any object in space without any pre-designed physical features or added sensors or actuators will enable or enhance many of MSFC's strategic emphasis areas in space transportation, and space systems such as: 1. A Flexible Electrostatic gripper can enable the capture, gripping and releasing of an extraterrestrial sample of different minerals or a sample canister (metallic or composite) without requiring a handle or grapple fixture.(B) 2. Flexible self-aligning in-space capture/soft docking or berthing of ISS resupply vehicles, pressurized modules, or nodes for in-space assembly and shielding, radiator, and solar Array deployment for space habitats (C) 3. The flexible electrostatic gripper when combined with a simple steerable extendible boom can grip, position, and release objects of various shapes and materials with low mass and power without any prior handles or physical accommodations or surface contamination for ISS experiment experiments and in-situ repair.(F)(G) 4. The Dexterous Docking concept previously proposed to allow simple commercial resupply ships to station-keep and capture either ISS or an Exploration vehicle for supply or fluid transfer lacked a self-sensing, compliant, soft capture gripper like FETCH that could retract and attach to a CBM. (I) 5. To enable a soft capture and de-orbit of a piece of orbital debris will require self-aligning gripping and holding an object wherever possible (thermal coverings or shields of various materials, radiators, solar arrays, antenna dishes) with little or no residual power while adding either drag or active low level thrust.(K) 6. With the scalability of the FETCH technology, small satellites can be captured and handled or can incorporate FETCH gripper to dock to and handle other small vehicles and larger objects for de-orbiting or mitigating Orbital debris (L) 7. Many of previous MSFC and NASA proposals or concepts can now be realized or simplified by the development of the this initial and future FETCH grippers including commercial resupply, Exploration vehicle assembly, Satellite servicing, and orbital debris removal since a major part of these missions is to align to and capture some handle. Completed Project (2013 - 2014) Flexible Electrostatic Technology for Capture & Handling Project Center Innovation Fund: MSFC CIF Program | Space Technology Mission Directorate (STMD) For more information visit techport.nasa.gov Some NASA technology projects are smaller (for example SBIR/STTR, NIAC and Center Innovation Fund), and will have less content than other, larger projects. Newly created projects may not sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 pounds per square inch or 70-300 lb./sq. ft. of surface contact, the FETCH can turn-on and turn-off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, and precision relocation for accurate anchor adhesion.

Keys, Andrew↗

NASA NTRS2016

Study of Lateral Misalignment Tolerance of a Symmetric Free-Space Optical Link for Intra International Space Station Communication

This paper describes the study of lateral misalignment tolerance of a symmetric high-rate free-space optical link (FSOL) for use between International Space Station (ISS) payload sites and the main cabin. The link will enable gigabit per second (Gbps) transmission of data, which is up to three orders of magnitude greater than the current capabilities. This application includes 10-20 meter links and requires minimum size, weight, and power (SWaP). The optical power must not present an eye hazard and must be easily integrated into the existing ISS infrastructure. On the ISS, rapid thermal changes and astronaut movement will cause flexure of the structure which will potentially misalign the free space transmit and receive optics 9 cm laterally and 0.2 degrees angularly. If this misalignment is not accounted for, a loss of the link or degradation of link performance will occur. Power measurements were collected to better understand the effect of various system design parameters on lateral misalignment. Parameters that were varied include: the type of small form pluggable (SFP) transceivers, type of fiber, and transmitted power level. A potential solution was identified that can reach the lateral misalignment tolerance (decenter span) required to create an FSOL on the ISS by using 105 m core fibers, a duplex SFP, two channels of light, and two fiber amplifiers.

free space↗

NASA NTRS2016

Study of Lateral Misalignment Tolerance of a Symmetric Free-Space Optical Link for Intra International Space Station Communication

optical communications↗

NASA NTRS2016

Biomolecule Sequencer: Next-Generation DNA Sequencing Technology for In-Flight Environmental Monitoring, Research, and Beyond

On the International Space Station (ISS), technologies capable of rapid microbial identification and disease diagnostics are not currently available. NASA still relies upon sample return for comprehensive, molecular-based sample characterization. Next-generation DNA sequencing is a powerful approach for identifying microorganisms in air, water, and surfaces onboard spacecraft. The Biomolecule Sequencer payload, manifested to SpaceX-9 and scheduled on the Increment 4748 research plan (June 2016), will assess the functionality of a commercially-available next-generation DNA sequencer in the microgravity environment of ISS. The MinION device from Oxford Nanopore Technologies (Oxford, UK) measures picoamp changes in electrical current dependent on nucleotide sequences of the DNA strand migrating through nanopores in the system. The hardware is exceptionally small (9.5 x 3.2 x 1.6 cm), lightweight (120 grams), and powered only by a USB connection. For the ISS technology demonstration, the Biomolecule Sequencer will be powered by a Microsoft Surface Pro3. Ground-prepared samples containing lambda bacteriophage, Escherichia coli, and mouse genomic DNA, will be launched and stored frozen on the ISS until experiment initiation. Immediately prior to sequencing, a crew member will collect and thaw frozen DNA samples, connect the sequencer to the Surface Pro3, inject thawed samples into a MinION flow cell, and initiate sequencing. At the completion of the sequencing run, data will be downlinked for ground analysis. Identical, synchronous ground controls will be used for data comparisons to determine sequencer functionality, run-time sequence, current dynamics, and overall accuracy. We will present our latest results from the ISS flight experiment the first time DNA has ever been sequenced in space and discuss the many potential applications of the Biomolecule Sequencer for environmental monitoring, medical diagnostics, higher fidelity and more adaptable Space Biology Human Research Program investigations, and even life detection experiments for astrobiology missions.

Sequencer↗

NASA NTRS2018

Oxygen Generation Assembly Design for Exploration Missions

Future Exploration missions will require an Oxygen Generation Assembly (OGA) to electrolyze water to supply oxygen for crew metabolic consumption. The system design will be based on the International Space Station (ISS) OGA but with added improvements based on lessons learned during ISS operations. These improvements will reduce system weight, crew maintenance time and resupply mass from Earth while increasing reliability. Currently, the design team is investigating the feasibility of the upgrades by performing ground tests and analyses. Upgrades being considered include: redesign of the electrolysis cell stack, deletion of the hydrogen dome, replacement of the hydrogen sensors, deletion of the wastewater interface, redesign of the recirculation loop deionizing bed and redesign of the cell stack Power Supply Module. The upgrades will be first demonstrated on the ISS OGA.

Takada, Kevin↗

NASA NTRS2002

A Scalable, Out-of-Band Diagnostics Architecture for International Space Station Systems Support

The computational infrastructure of the International Space Station (ISS) is a dynamic system that supports multiple vehicle subsystems such as Caution and Warning, Electrical Power Systems and Command and Data Handling (C&DH), as well as scientific payloads of varying size and complexity. The dynamic nature of the ISS configuration coupled with the increased demand for payload support places a significant burden on the inherently resource constrained computational infrastructure of the ISS. Onboard system diagnostics applications are hosted on computers that are elements of the avionics network while ground-based diagnostic applications receive only a subset of available telemetry, down-linked via S-band communications. In this paper we propose a scalable, out-of-band diagnostics architecture for ISS systems support that uses a read-only connection for C&DH data acquisition, which provides a lower cost of deployment and maintenance (versus a higher criticality readwrite connection). The diagnostics processing burden is off-loaded from the avionics network to elements of the on-board LAN that have a lower overall cost of operation and increased computational capacity. A superset of diagnostic data, richer in content than the configured telemetry, is made available to Advanced Diagnostic System (ADS) clients running on wireless handheld devices, affording the crew greater mobility for troubleshooting and providing improved insight into vehicle state. The superset of diagnostic data is made available to the ground in near real-time via an out-of band downlink, providing a high level of fidelity between vehicle state and test, training and operational facilities on the ground.

Fletcher, Daryl P.↗

NASA NTRS2019

Advanced Oxygen Generation Assembly for Exploration Missions

Future Exploration missions will require an Oxygen Generation Assembly (OGA) to electrolyze water to supply oxygen for crew metabolic consumption. The system design will be based on the International Space Station (ISS) OGA but with added improvements based on lessons learned during ISS operations and technological advances since the original OGA was designed and built. These improvements will reduce system weight, crew maintenance time and spares mass while increasing reliability. Currently, the design team is investigating the feasibility of the upgrades by performing ground tests and analyses. Upgrades being considered include: redesign of the electrolysis cell stack, deletion of the hydrogen dome, replacement of the hydrogen sensors, deletion of the wastewater interface, redesign of the recirculation loop deionizing bed and redesign of the cell stack Power Supply Module. The upgrades will be first demonstrated on the ISS OGA.

Takada, Kevin↗

NASA NTRS1997

Thermal Cycling of Mir Cooperative Solar Array (MCSA) Test Panels

The Mir Cooperative Solar Array (MCSA) project was a joint US/Russian effort to build a photovoltaic (PV) solar array and deliver it to the Russian space station Mir. The MCSA is currently being used to increase the electrical power on Mir and provide PV array performance data in support of Phase 1 of the International Space Station (ISS), which will use arrays based on the same solar cells used in the MCSA. The US supplied the photovoltaic power modules (PPMs) and provided technical and programmatic oversight while Russia provided the array support structures and deployment mechanism and built and tested the array. In order to ensure that there would be no problems with the interface between US and Russian hardware, an accelerated thermal life cycle test was performed at NASA Lewis Research Center on two representative samples of the MCSA. Over an eight-month period (August 1994 - March 1995), two 15-cell MCSA solar array 'mini' panel test articles were simultaneously put through 24,000 thermal cycles (+80 C to -100 C), equivalent to four years on-orbit. The test objectives, facility, procedure and results are described in this paper. Post-test inspection and evaluation revealed no significant degradation in the structural integrity of the test articles and no electrical degradation, not including one cell damaged early as an artifact of the test and removed from consideration. The interesting nature of the performance degradation caused by this one cell, which only occurred at elevated temperatures, is discussed. As a result of this test, changes were made to improve some aspects of the solar cell coupon-to-support frame interface on the flight unit. It was concluded from the results that the integration of the US solar cell modules with the Russian support structure would be able to withstand at least 24,000 thermal cycles (4 years on-orbit).

Hoffman, David J.↗

NASA NTRS2015

Digital Astronaut Project Biomechanical Models: Biomechanical Modeling of Squat, Single-Leg Squat and Heel Raise Exercises on the Hybrid Ultimate Lifting Kit (HULK)

The NASA Digital Astronaut Project (DAP) implements well-vetted computational models to predict and assess spaceflight health and performance risks, and to enhance countermeasure development. The DAP Musculoskeletal Modeling effort is developing computational models to inform exercise countermeasure development and to predict physical performance capabilities after a length of time in space. For example, integrated exercise device-biomechanical models can determine localized loading, which will be used as input to muscle and bone adaptation models to estimate the effectiveness of the exercise countermeasure. In addition, simulations of mission tasks can be used to estimate the astronaut's ability to perform the task after exposure to microgravity and after using various exercise countermeasures. The software package OpenSim (Stanford University, Palo Alto, CA) (Ref. 1) is being used to create the DAP biomechanical models and its built-in muscle model is the starting point for the DAP muscle model. During Exploration missions, such as those to asteroids and Mars, astronauts will be exposed to reduced gravity for extended periods. Therefore, the crew must have access to exercise countermeasures that can maintain their musculoskeletal and aerobic health. Exploration vehicles may have very limited volume and power available to accommodate such capabilities, even more so than the International Space Station (ISS). The exercise devices flown on Exploration missions must be designed to provide sufficient load during the performance of various resistance and aerobic/anaerobic exercises while meeting potential additional requirements of limited mass, volume and power. Given that it is not practical to manufacture and test (ground, analog and/or flight) all candidate devices, nor is it always possible to obtain data such as localized muscle and bone loading empirically, computational modeling can estimate the localized loading during various exercise modalities performed on a given device to help formulate exercise prescriptions and other operational considerations. With this in mind, NASA's Digital Astronaut Project (DAP) is supporting the Advanced Exercise Concepts (AEC) Project, Exercise Physiology and Countermeasures (ExPC) laboratory and NSBRI-funded researchers by developing and implementing well-validated computational models of exercises with advanced exercise device concepts. This report focuses specifically on lower-body resistance exercises performed with the Hybrid Ultimate Lifting Kit (HULK) device as a deliverable to the AEC Project.

health↗

NASA NTRS2012

Using Pre-melted Phase Change Material to Keep Payload Warm without Power for Hours in Space

During a payload transition from the transport vehicle to its worksite on the International Space Station (ISS), the payload is unpowered for up to 6 hours. Its radiator(s) will continue to radiate heat to space. It is necessary to make up the heat loss to maintain the payload temperature above the cold survival limit. Typically an interplanetary Probe has no power generation system. It relies on its battery to provide limited power for the Communication and Data Handling (C&DH) subsystem during cruise, and heater power is unavailable. It is necessary to maintain the C&DH temperature above the minimum operating limit. This paper presents a novel thermal design concept that utilizes phase change material (PCM) to store thermal energy by melting it before the payload or interplanetary Probe is unpowered. For the ISS, the PCM is melted by heaters just prior to the payload transition from the transport vehicle to its worksite. For an interplanetary Probe, the PCM is melted by heaters just prior to separation from the orbiter. The PCM releases thermal energy to keep the payload warm for several hours after power is cut off.

Choi, Michael K.↗

NASA NTRS2000

Managing Risk for Thermal Vacuum Testing of the International Space Station Radiators

The International Space Station (ISS) is designed with large deployable radiator panels that are used to reject waste heat from the habitation modules. Qualification testing of the Heat Rejection System (HRS) radiators was performed using qualification hardware only. As a result of those tests, over 30 design changes were made to the actual flight hardware. Consequently, a system level test of the flight hardware was needed to validate its performance in the final configuration. A full thermal vacuum test was performed on the flight hardware in order to demonstrate its ability to deploy on-orbit. Since there is an increased level of risk associated with testing flight hardware, because of cost and schedule limitations, special risk mitigation procedures were developed and implemented for the test program, This paper introduces the Continuous Risk Management process that was utilized for the ISS HRS test program. Testing was performed in the Space Power Facility at the NASA Glenn Research Center, Plum Brook Station located in Sandusky, Ohio. The radiator system was installed in the 100-foot diameter by 122-foot tall vacuum chamber on a special deployment track. Radiator deployments were performed at several thermal conditions similar to those expected on-orbit using both the primary deployment mechanism and the back-up deployment mechanism. The tests were highly successful and were completed without incident.

Carek, Jerry A.↗

NASA NTRS2002

STS-110 Flight Day 6 Highlights

On the sixth day of the STS-110 mission, Mission Specialists Jerry Ross and Lee Morin are seen in the second extravehicular activity (EVA) of this mission to the International Space Station (ISS). The video opens with the two astronauts preparing for the EVA, which will be Ross' eighth, thereby making him the most experienced space-walker in history. This pair of astronauts has been dubbed the Silver Team, largely because they both have grandchildren. As Ross and Morin prepare for the EVA by breathing pure oxygen and experiencing reduced pressure, Mission Specialist Ellen Ochoa maneuvers the robotic arm towards the hatch of the Space Shuttle Atlantis. There is video footage of the astronauts exiting the hatch and preparing their tools and work areas. During this EVA the astronauts will install two tripod-like struts, which will serve as structural attachments between the S-0 truss segment and the Destiny Laboratory Module. While the construction takes place, helmet mounted cameras on the spacesuits provide live video of the astronauts at work, most often using a pistol grip tool used as an electric ratcheting-type drill to loosen and tighten bolts. Following the installation of the struts, Ross and Morin remove the draglinks and keelpins that had functioned to hold the S0 truss structure securely in Atlantis' payload bay during the launch sequence of the mission. They move these to temporary storage positions, bolted on the outside of the ISS. They then install an umbilical system that will provide power to the Mobile Transporter (MT).

Source record↗

NASA NTRS2022

Vitrolube NPI-1220 Solid Lubricant Performance After Ultraviolet and Salt Fog Test Exposures

Vitrolube NPI-1220 is a ceramic-bonded solid lubricant produced by National Process Industries, Inc. (NPI) that uses molybdenum disulfide (MoS2) and graphite as lubricating pigments. It is applied to many space flight components, including nickel-alloy and stainless-steel components. Various applications, such as the powered nut and bolt assemblies in the international space station (ISS) (Illi, 1999), the Space Launch System (SLS) sliding bellows, and the SLS ball strut tie-rod assembly (BSTRA) use Vitrolube. No engineering data exists regarding possible Vitrolube degradation after extended exposure to coastal environments encountered by flight hardware on test stands or launch pads. Such environments include ultraviolet (UV) ray, high humidity, and salt exposures. In this study, nickel-alloy disks coated with Vitrolube by NPI, are exposed to controlled UV ray and ‘salt fog’ environments in facilities at Marshall Space Flight Center (MSFC). The exposed disks are run in tribological pin-on-disk tests to quantify any difference in coating lubricity and/or wear compared to coated disks that were not exposed to those environments.

Tribology↗

NASA NTRSDate not supplied

Students Solving Problems for ISS and Beyond: Inspiring the Next-Generation

Students Solving Problems for ISS and Beyond: Inspiring the Next-Generation Session Title: Students Solving Problems for ISS and Beyond: Inspiring the Next-Generation Session Description: NASA High school students United with NASA to Create Hardware (HUNCH) mission is to empower and inspire students through a Project-Based Learning program where 7-12 grade students learn 21st century skills and can launch their careers through participation in the design and fabrication of real-world valued products for NASA. With six different tracks consisting of Design & Prototype, Culinary Challenge, Softgoods, Precision Machining, Software, and Video Challenge, students are given the opportunity to create solutions for the International Space Station (ISS), the Moon, and beyond. Many projects are requested by the Crew to help ease living conditions, giving students the opportunity to make an impact on the lives of Astronauts. Other projects come directly from NASA and its partners. Join our session to learn how NASA is working with teachers across the country to mentor the next generation of scientists and engineers to solve some of NASA’s greatest challenges. Learning Outcomes: 1. Describe the NASA HUNCH Program, including the program objectives, goals, and strategic partnerships for middle school and high school outreach and advocacy efforts. 2. Identify the innovative strategies NASA is using to work with middle and high school students to solve real-world problems 3. Use the knowledge gained to inspire the next generation of scientists and engineers Session Track: Advocacy & Outreach Specialized Focus Area: Women in Government and Military Learning Level: Foundational Session Format: Listen & Learn Speaker Qualifications: 1. Deboshri Sadhukhan • Current Job Title: Deputy Project Manager • Topic Experience (years of experience related to proposed topic): 1-5 years • Biography: Deboshri Sadhukhan is an engineer for NASA Glenn Research Center (GRC). She has worked on numerous projects — from International Space Station (ISS) fluid technologies, to Orion European Service Module propulsion, to planetary science missions and other game-changing technologies. Her roles have ranged from Project Manager to System Safety Lead. She currently serves as a GRC Regional Mentor for the High school students United with NASA to Create Hardware (HUNCH) program. She also serves as Deputy Project Manager for an ISS payload and Safety & Mission Assurance Lead for a Radioisotope Power Systems project. In these roles, she oversees each phase of a project from beginning to end and provides leadership to increase the reliability, maintainability and system safety of hardware and personnel throughout the system life cycle. She holds a Bachelor of Science in Electrical Engineering from The University of Akron. 2. Nancy Hall • Current Job Title: Project Manager • Topic Experience: 20+ years • Biography: Nancy Rabel Hall earned a B.S. degree in Space Sciences from Florida Institute of Technology and a M.S. degree in Mechanical Engineering from the University of Toledo. She has been at NASA Glenn for over 30 years. She has led several International Space Station experiments that studied how the behavior of fluids and fluid systems behave differently in microgravity as compared to here on Earth. She is also the High school students United with NASA to Create Hardware (HUNCH) project manager, a program that allows students to design and fabricate hardware and softgoods for NASA as well as participate in a culinary and video challenge. She enjoys talking to the public and students about the work being done at NASA as well as showing students how math and science can be fun. She is an amateur radio operator, enjoys playing golf, and reading science fiction and fantasy books.

HUNCH↗

NASA NTRS2026

Impacts of Reduced Pressure Atmospheres on Environmental Control and Life Support Systems (ECLSS) Architectures

The study found that while nine subsystems are viable without modification at 10.2 psia, only three remain acceptable at 8.2 psia. Material flammability presents the most critical hurdle in the 8.2 psia/34-40% O 2 environment, where 70% of the assessed subsystems will require material replacements, many of which have yet to be developed. Ultimately, adapting ISS heritage hardware to these exploration conditions will introduce varied mass, power (e.g., increased fan speeds), and significant schedule impacts driven by the need for extensive testing, redesign, and recertification. The report concludes with specific recommendations for targeted analysis and testing to quantify these impacts and guide necessary design modifications.

Environmental Control and Life Support Systems↗

NASA NTRS2015

Robonaut 2 - Building a Robot on the International Space Station

In 2010, the Robonaut Project embarked on a multi‐phase mission to perform technology demonstrations on‐board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra‐Vehicular Activity (IVA) Mobility, that utilizes a set of zero‐g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot in space, extensive practice sessions and meticulous procedures were required. Since crew training time is at a premium, the R2 team took a skills‐based training approach to ensure the astronauts were proficient with a basic skill set while refining the detailed procedures over several practice sessions and simulations. In addition to the crew activities, meticulous ground procedures were required in order to upgrade firmware on the upper body motor drivers. The new firmware for the IVA mobility unit needed to be deployed using the old software system. This also provided an opportunity to upgrade the upper body joints with new software and allowed for limited insight into the success of the updates. Complete verification that the updated firmware was successfully loaded was not confirmed until the rewiring of the upper body torso was complete.

Diftler, Myron↗

NASA NTRSDate not supplied

Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.

After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.

Astrobee↗

NASA NTRSDate not supplied

Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station

After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.

Astrobee↗