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The extravehicular activity (EVA) ratchet wrench was developed. Shortly after Space Telescope (ST) maintenance simulations began, the need for a specialized maintenance tool arose. With inputs of tool requirements and design recommendations, several development model wrenches were tested in conjunction with ST neutral buoyancy simulations. The wrench design was modified and refined.
The physics of discrete tone generation (screech) from improperly expanded supersonic jets have been investigated experimentally. Both nearfield acoustic survey and phase-averaged schlieren flow visualization were conducted. The dominant mode of flow oscillation that occurred during intense screech and its coupling with the internal shock structure and external sound field were established. Deductions made from the observed coupling mechanism revealed the importance of Helmholtz number and shock cell spacing in the maintenance of screech. Measured amplitude variation of screech are compared with computed amplitude variation of the dominant instability. The results suggest that jet instability plays a direct role in the generation of screech.
A mobile remote manipulator system has been identified as a necessary device for space station. A conceptual design for an MRMS is presented which features (1) tracks on the MRMS and guide pins only on the truss structure, (2) a push/pull drive mechanism which rotates to permit movement in four directions, and (3) spacecrane and mobile foot restraint manipulators (or arms). Operational and design features of the MRMS elements are described and illustrated. Concepts are also presented which permit rotating the operational plane of the MRMS through 90 deg. Such a system has been found to have great utility for initial space station construction, maintenance and repair, and to provide a construction capability for future station growth or large spacecraft assembly and/or servicing.
Medical considerations for long duration manned space missions are examined. The requirements and hardware for medical operations on the Space Station are diagrammatically presented. The physiological and psychological changes that have been observed during space flights are discussed. Crew health maintenance and medical care in the Space Station environment require earth-based and in flight continuity. It is also necessary to identify the appropriate zero-G therapeutic methods for treating a patient. Techniques for transferring patients in orbit and to earth are studied. Considerations are given to control and life support systems and data management for medical operations.
The goal of this research is to explore and prove out robust concepts for telerobotic support of space servicing, assembly, maintenance, and telescience tasks. This goal is being addressed through a program of coordinated work in artificial intelligence, robotics, and human factors. The general research objective is the fusion of robot sensing and manipulation, teleoperation, and human and machine cognitive skills into an effective architecture for supervised task automation. NASA is evaluating results of this research program in a ground laboratory telerobot testbed under development at JPL. The testbed development activity includes integrated technology demonstrations. The demonstrations will show telerobot capabilities to perform tasks of increasing complexity, and duration in increasingly unstructured environments. The first such demonstration is the ground-based grappling, dockling, and servicing of a satellite taskboard.
A state-based reasoning approach to trend recognition and failure prediction for the Altitude Determination, and Control System (ADCS) of the Space Station Freedom (SSF) is described. The problem domain is characterized by features (e.g., trends and impending failures) that develop over a variety of time spans, anywhere from several minutes to several years. Our state-based reasoning approach, coupled with intelligent data screening, allows features to be tracked as they develop in a time-dependent manner. That is, each state machine has the ability to encode a time frame for the feature it detects. As features are detected, they are recorded and can be used as input to other state machines, creating a hierarchical feature recognition scheme. Furthermore, each machine can operate independently of the others, allowing simultaneous tracking of features. State-based reasoning was implemented in the trend recognition and the prognostic modules of a prototype Space Station Freedom Maintenance and Diagnostic System (SSFMDS) developed at Honeywell's Systems and Research Center.
Vision processing is one of the most computationally intensive tasks required of an autonomous robot. The data flow from a single typical imaging sensor is roughly 60 Mbits/sec, which can easily overload current on-board processors. Optical correlator-based processing can be used to perform many of the functions required of a general robotic vision system, such as object recognition, tracking, and orientation determination, and can perform these functions fast enough to keep pace with the incoming sensor data. We describe a hybrid digital electronic/analog optical robotic vision processing system developed at Ames Research Center to test concepts and algorithms for autonomous construction, inspection, and maintenance of space-based habitats. We discuss the system architecture design and implementation, its performance characteristics, and our future plans. In particular, we compare the performance of the system to a more conventional all digital electronic system developed concurrently. The hybrid system consistently outperforms the digital electronic one in both speed and robustness.
The issues discussed in this paper are the result of a 10-week study by the Space Solar Power Program design project members and the Space Transportation Group at the International Space University (ISU) summer session of 1992 to investigate new paradigms in space propulsion and how those paradigms might reduce the costs for large space programs. The program plan was to place a series of power satellites in Earth orbit. Several designs were studied where many kW, MW or GW of power would be transmitted to Earth or to other spacecraft in orbit. During the summer session, a space solar power system was also detailed and analyzed. At ISU, the focus of the study was to foster and develop some of the new paradigms that may eliminate the barriers to low cost for space exploration and exploitation. Many international and technical aspects of a large multinational program were studied. Environmental safety, space construction and maintenance, legal and policy issues of frequency allocation, technology transfer and control and many other areas were addressed.
In 1992, the International Space University (ISU) held its Summer Session in Kitakyushu, Japan. This paper summarizes and expands upon some aspects of space solar power and space transportation that were considered during that session. The issues discussed in this paper are the result of a 10-week study by the Space Solar Power Program design project members and the Space Transportation Group to investigate new paradigms in space propulsion and how those paradigms might reduce the costs for large space programs. The program plan was to place a series of power satellites in Earth orbit. Several designs were studied where many kW, MW, or GW of power would be transmitted to Earth or to other spacecraft in orbit. During the summer session, a space solar power system was also detailed and analyzed. A high-cost space transportation program is potentially the most crippling barrier to such a space power program. At ISU, the focus of the study was to foster and develop some of the new paradigms that may eliminate the barriers to low cost for space exploration and exploitation. Many international and technical aspects of a large multinational program were studied. Environmental safety, space construction and maintenance, legal and policy issues of frequency allocation, technology transfer and control and many other areas were addressed. Over 120 students from 29 countries participated in this summer session. The results discussed in this paper, therefore, represent the efforts of many nations.
Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.
NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.
This video highlights the international cooperative Shuttle/Mir mission of the STS-71 flight. The STS-71 flightcrew consists of Cmdr. Robert Hoot' Gibson, Pilot Charles Precourt, and Mission Specialists Ellen Baker, Bonnie Dunbar, and Gregory Harbaugh. The Mir 18 flightcrew consisted of Cmdr. Vladamir Dezhurov, Flight Engineer Gennady Strekalov, and Cosmonaut-Research Dr. Norman Thagard. The Mir 18 crew consisted of Cmdr. Anatoly Solovyev and Flight Engineer Nikolai Budarin. The prelaunch, launch, shuttle in-orbit, and in-orbit rendezvous and docking of the Mir Space Station to the Atlantis Space Shuttle are shown. The Mir 19 crew accompanied the STS-71 crew and will replace the Mir 18 crew upon undocking from the Mir Space Station. Shown is on-board footage from the Mir Space Station of the Mir 18 crew engaged in hardware testing and maintenance, medical and physiological tests, and a tour of the Mir. A spacewalk by the two Mir 18 cosmonauts is shown as they performed maintenance of the Mir Space Station. After the docking between Atlantis and Mir is completed, several mid-deck physiological experiments are performed along with a tour of Atlantis. Dr Thagard remained behind with the Shuttle after undocking to return to Earth with reports from his Mir experiments and observations. In-cabin experiments included the IMAX Camera Systems tests and the Shuttle Amateur Radio Experiment-2 (SAREX-2). There is footage of the shuttle landing.
Journal article about Reliability Centered Maintenance (RCM) methodologies used by United Space Alliance, LLC (USA) in support of the Space Shuttle Program at Kennedy Space Center. The USA Reliability Centered Maintenance program differs from traditional RCM programs because various methodologies are utilized to take advantage of their respective strengths for each application. Based on operational experience, USA has customized the traditional RCM methodology into a streamlined lean logic path and has implemented the use of statistical tools to drive the process. USA RCM has integrated many of the L6S tools into both RCM methodologies. The tools utilized in the Measure, Analyze, and Improve phases of a Lean Six Sigma project lend themselves to application in the RCM process. All USA RCM methodologies meet the requirements defined in SAE JA 1011, Evaluation Criteria for Reliability-Centered Maintenance (RCM) Processes. The proposed article explores these methodologies.
As humans leave the bounds of Earth to explore the lunar surface and beyond, crew will don extravehicular activity (EVA) suits to learn more about these extraterrestrial environments, establish sustained presence, and perform needed upgrades and maintenance to their space vehicle and habitation systems. Spacefaring vehicle and habitation design will need to support these EVA excursions while ensuring crew health and safety. A crucial technological design advancement towards this goal is the use of a lower pressure exploration atmosphere (EA) that enables high efficiency EVA, rather than the sea level atmosphere of 14.7 psia, 21% oxygen (O 2 ) found on the International Space Station, Shuttle, and most other Russian and Chinese space vehicles and stations. Early space vehicles (Mercury through Apollo Programs) used a 5 psia, 100% O 2 environment, which eliminated the need for pre-EVA denitrogenation protocols, simplified the life support system to a single gas, and saved structural mass. For longer duration missions (Skylab), a diluent gas was added, changing the atmosphere to 5 psia, 70-74% O 2 to prevent atelectasis while remaining normoxic. As in-flight science became a top priority, Shuttle and ISS atmospheres were chosen to operate at sea level allowing for simpler ground-based study control conditions. Consequently this led to long pre-EVA denitrogenation protocols involving up to 4 hours of O 2 prebreathe because the EVA suit still operated at a low pressure of 4.3 psid. To increase operational efficiency, the Shuttle was retroactively certified to operate using 10.2 psia, 26.5% O 2 , reducing O 2 prebreathe time to 40-75 min. Current plans for M2M habitats on the Lunar surface require EVA, thus EA recommendation became 8 psia and 32% O 2 but was revised to 8.2 psia and 34% O 2 to decrease hypoxia exposure. Unfortunately, the benefits of EA in support of safe and efficient EVAs comes with the challenge of fire management in a higher-than-normal O 2 % environment. Although known for decades, the recommended forward work to address fire management has only recently begun. Current flammability tests include examining material propagation and ignition sources as well as fire mitigation processes to better understand these properties for proposed new EA environments. Fire safety, DCS risk, and mission design all contribute to the multifaceted parameters of EA. Thus while it is clear that EA is required to achieve the goals of future exploratory space missions, final specifications are still being evaluated for optimizing crew health and safety.
The essential requirements for the maintenance of life, particularly human life, on isolated space missions of long duration were investigated through the study of extended irreversible thermodynamics. The characterization of a four trophic level system was developed. Questions of stability are discussed.
The Flight Telerobotic Servicer (FTS) is being developed by the Goddard Space Flight Center (GSFC) for performing a variety of assembly, servicing, inspection and maintenance tasks on the Space Station. The Project Office at GSFC has tasked the Engineering Directorate to assemble a robotics research and development program which will support the FTS project. The activities center around support for the Development Test Flight (DTF) on the Space Shuttle and investigations of operational problems associated with the FTS on Space Station Freedom. For the DTF, areas such as control algorithms, safety systems, and end-effectors will be developed. For FTS operations, the emphasis will be to develop a dual-arm bi-lateral force-reflecting teleoperator and use it as an FTS Operational Simulator (FTSOS). The simulator will be used to investigate operational techniques, camera configurations, operator interfacing, orbital replacement unit (ORU) designs, end-effector designs, and training techniques. After a series of test activities, reports will be generated for input to the DTF and FTS designs.
The underwater test facility (UTF) is described as an indoor controlled environment test facility designed specifically for zero G simulation, hydrospace manned and unmanned equipment development, and personnel training for both space and underwater exploration. Programs conducted in the UTF include: human engineering criteria for maintenance and repairs of space stations, astronaut performance, helmet distortion, underwater telemetry, and blood transfusion.
This handbook provides a ready reference for many of the solid and liquid lubricants used in the space industry. Lubricants and lubricant properties are arranged systematically so that designers, engineers, and maintenance personnel in the space industry can conveniently locate data needed for their work. The handbook is divided into two major parts. Part A is a compilation of chemical and physical property data of more than 250 solid lubricants, bonded solid lubricants, dispersions and composites. Part B is a compilation of chemical and physical property data of more than 250 liquid lubricants, greases, oils, compounds and fluids. The listed materials cover a broad spectrum, from manufacturing and ground support to hardware applications for missiles and spacecraft.