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Proceedings of the NASA Conference on Space Telerobotics, volume 5

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center.

Rodriguez, Guillermo↗

On the design of flight-deck procedures

In complex human-machine systems, operations, training, and standardization depend on a elaborate set of procedures which are specified and mandated by the operational management of the organization. The intent is to provide guidance to the pilots, to ensure a logical, efficient, safe, and predictable means of carrying out the mission objectives. In this report the authors examine the issue of procedure use and design from a broad viewpoint. The authors recommend a process which we call 'The Four P's:' philosophy, policies, procedures, and practices. We believe that if an organization commits to this process, it can create a set of procedures that are more internally consistent, less confusing, better respected by the flight crews, and that will lead to greater conformity. The 'Four-P' model, and the guidelines for procedural development in appendix 1, resulted from cockpit observations, extensive interviews with airline management and pilots, interviews and discussion at one major airframe manufacturer, and an examination of accident and incident reports. Although this report is based on airline operations, we believe that the principles may be applicable to other complex, high-risk systems, such as nuclear power production, manufacturing process control, space flight, and military operations.

Degani, Asaf↗

SPACE: Three Decades of Spacecraft Power Systems Analysis with Fortran

The SPACE (System Power Analysis for Capability Evaluation) Fortran program developed at NASA Glenn Research Center has enabled power generation predictions and energy balance analyses for spacecraft electrical power systems (EPS) since 1988. SPACE was originally designed to analyze the EPS of the Space Station Freedom and continues to support certifications for visiting vehicles and extravehicular activities on the International Space Station today. Another version of SPACE currently supports design and mission planning operations for the Orion and Gateway vehicles as part of NASA’s Artemis program. In total, over 50 engineers have contributed to the development and use of SPACE on various platforms throughout its history. Ongoing code modernization efforts aim to generalize the program for use with different vehicles and configurations. While SPACE team analysts currently interact with the program via the command line, future development work also includes the creation of a graphical user interface for use by flight operations personnel. The SPACE code thus has a long legacy in spacecraft EPS analysis and will continue to play a critical role in future human spaceflight missions by leveraging the computational power of Fortran.

Fortran↗

Orbital transfer vehicle concept definition and system analysis study, 1985. Volume 2: OTV concept definition and evaluation. Book 4: Operations

The benefits of the reusable Space Shuttle and the advent of the new Space Station hold promise for increasingly effective utilization of space by the scientific and commercial as well as military communities. A high energy reusable oribital transfer vehicle (OTV) represents an additional capability which also exhibits potential for enhancing space access by allowing more ambitious missions and at the same time reducing launch costs when compared to existing upper stages. This section, Vol. 2: Book 4, covers launch operations and flight operations. The launch operations section covers analyses of ground based and space based vehicles, launch site facilities, logistics requirements, propellant loading, space based maintenance and aft cargo carrier access options. The flight operations sections contain summary descriptions of ground based and space based OTV missions, operations and support requirements, and a discussion of fleet implications.

Mitchell, Jack C.↗

NASA's Rodent Research Project: Validation of Flight Hardware, Operations and Science Capabilities for Conducting Long Duration Experiments in Space

Research using rodents is an essential tool for advancing biomedical research on Earth and in space. Rodent Research (RR)-1 was conducted to validate flight hardware, operations, and science capabilities that were developed at the NASA Ames Research Center. Twenty C57BL/6J adult female mice were launched on Sept 21, 2014 in a Dragon Capsule (SpaceX-4), then transferred to the ISS for a total time of 21-22 days (10 commercial mice) or 37 (10 validation mice). Tissues collected on-orbit were either rapidly frozen or preserved in RNA later at less than or equal to -80 C (n=2/group) until their return to Earth. Remaining carcasses were rapidly frozen for dissection post-flight. The three controls groups at Kennedy Space Center consisted of: Basal mice euthanized at the time of launch, Vivarium controls, housed in standard cages, and Ground Controls (GC), housed in flight hardware within an environmental chamber. FLT mice appeared more physically active on-orbit than GC, and behavior analysis are in progress. Upon return to Earth, there were no differences in body weights between FLT and GC at the end of the 37 days in space. RNA was of high quality (RIN greater than 8.5). Liver enzyme activity levels of FLT mice and all control mice were similar in magnitude to those of the samples that were optimally processed in the laboratory. Liver samples collected from the intact frozen FLT carcasses had RNA RIN of 7.27 +/- 0.52, which was lower than that of the samples processed on-orbit, but similar to those obtained from the control group intact carcasses. Nonetheless, the RNA samples from the intact carcasses were acceptable for the most demanding transcriptomic analyses. Adrenal glands, thymus and spleen (organs associated with stress response) showed no significant difference in weights between FLT and GC. Enzymatic activity was also not significantly different. Over 3,000 tissues collected from the four groups of mice have become available for the Biospecimen Sharing Program. Together, these validation flight findings demonstrate the capability to support long-duration RR on the ISS to achieve both basic science and biomedical objectives.

rodents↗

The Solar-B Mission: First Light, Future Plans and Community Participation

The Solar-B spacecraft was launched from the Uchinoura Space Center into a circular, sun-synchronous, polar orbit by the Japanese Aerospace Exploration Agency in late September 2006. The spacecraft carries thee scientific instruments designed to follow the flow of magnetic energy from the photosphere to the corona to improve our understanding of both steady state and transient energy release. This goal will be achieved through coordinated observations of three highly advanced solar telescopes developed cooperatively by teams from Japan, the United States and the United Kingdom. The three telescopes are a 0.5m aperture, diffraction limited, solar optical telescope (SOT), an X-ray telescope (XRT) designed for full sun imaging with 1.0 arcsec pixels and an EUV imaging spectrometer (EIS) with an order of magnitude improvement in sensitivity over past instruments. The SOT focal plane contains three instruments, a spectropolarimeter for measuring vector magnetic fields, a broadband filter imager for recording images of the photosphere and chromosphere at the highest resolution the telescope is capable of, and a narrow band filter imager that will record Doppler grams and vector magnetograms. The XRT has broad temperature coverage and a spatial a resolution three times as high as Yohkoh. EIS covers a broad range of transition region and coronal temperatures in two spectral bands. Both XRT and EIS have 2 arcsec spatial resolution (1 arcsec pixels). Instrument first light occurred after five weeks on orbit to allow for out gassing and the opening of the telescopes doors. The initial observation sequences are designed to test the functionality of the different operating modes and for calibration. After this commissioning phase is complete a series of observations are planned to demonstrate the ability of the instruments to meet NASA's mission minimum success criteria. Data is downloaded every orbit to the Norwegian high latitude ground station at Svalbard. The data are transmitted to ISAS where they are reformatted into FITS files and archived as Level 0 data on the ISAS DARTS system. Once the initial observation period is complete, approximately six months after launch, the mission data will be open and freely available to researchers shortly after receipt at the DARTS data archive hosted in Japan and at NASA s Solar Data Analysis Center at the Goddard Space Flight Center. Scientific operations will be conducted from the ISAS facility in Sagamihara, Japan and the observatory will become available for performing joint operations with both ground and space based instruments and for conducting observing programs proposed by non-team members. This process will be described together with a status report from the initial operation of the observatory, showing examples of the first observations.

Davis, John M.↗

Radioastron flight operations

Radioastron is a space-based very-long-baseline interferometry (VLBI) mission to be operational in the mid-90's. The spacecraft and space radio telescope (SRT) will be designed, manufactured, and launched by the Russians. The United States is constructing a DSN subnet to be used in conjunction with a Russian subnet for Radioastron SRT science data acquisition, phase link, and spacecraft and science payload health monitoring. Command and control will be performed from a Russian tracking facility. In addition to the flight element, the network of ground radio telescopes which will be performing co-observations with the space telescope are essential to the mission. Observatories in 39 locations around the world are expected to participate in the mission. Some aspects of the mission that have helped shaped the flight operations concept are: separate radio channels will be provided for spacecraft operations and for phase link and science data acquisition; 80-90 percent of the spacecraft operational time will be spent in an autonomous mode; and, mission scheduling must take into account not only spacecraft and science payload constraints, but tracking station and ground observatory availability as well. This paper will describe the flight operations system design for translating the Radioastron science program into spacecraft executed events. Planning for in-orbit checkout and contingency response will also be discussed.

Altunin, V. I.↗

A silicon vidicon camera for slow scan operation

A silicon vidicon camera was designed, built, and tested to determine its potential for use aboard future Mariner spacecraft. Slow scan operation is made possible by cooling the vidicon to -40 C. Cooling is achieved by a simple thermal condition path between the vidicon and a radiator mounted on top of the camera head. The camera was successfully operated under simulated space flight conditions and has survived vibration designed to simulate the launch of a Mariner spacecraft. A description of the camera and its operation along with the results of the testing is presented.

Potter, W. M.↗

Qualification and Issues with Space Flight Laser Systems and Components

The art of flight quality solid-state laser development is still relatively young, and much is still unknown regarding the best procedures, components, and packaging required for achieving the maximum possible lifetime and reliability when deployed in the harsh space environment. One of the most important issues is the limited and unstable supply of quality, high power diode arrays with significant technological heritage and market lifetime. Since Spectra Diode Labs Inc. ended their involvement in the pulsed array business in the late 1990's, there has been a flurry of activity from other manufacturers, but little effort focused on flight quality production. This forces NASA, inevitably, to examine the use of commercial parts to enable space flight laser designs. System-level issues such as power cycling, operational derating, duty cycle, and contamination risks to other laser components are some of the more significant unknown, if unquantifiable, parameters that directly effect transmitter reliability. Designs and processes can be formulated for the system and the components (including thorough modeling) to mitigate risk based on the known failures modes as well as lessons learned that GSFC has collected over the past ten years of space flight operation of lasers. In addition, knowledge of the potential failure modes related to the system and the components themselves can allow the qualification testing to be done in an efficient yet, effective manner. Careful test plan development coupled with physics of failure knowledge will enable cost effect qualification of commercial technology. Presented here will be lessons learned from space flight experience, brief synopsis of known potential failure modes, mitigation techniques, and options for testing from the system level to the component level.

Ott, Melanie N.↗

Qualification and Issues with Space Flight Laser Systems and Components

The art of flight quality solid-state laser development is still relatively young, and much is still unknown regarding the best procedures, components, and packaging required for achieving the maximum possible lifetime and reliability when deployed in the harsh space environment. One of the most important issues is the limited and unstable supply of quality, high power diode arrays with significant technological heritage and market lifetime. Since Spectra Diode Labs Inc. ended their involvement in the pulsed array business in the late 199O's, there has been a flurry of activity from other manufacturers, but little effort focused on flight quality production. This forces NASA, inevitably, to examine the use of commercial parts to enable space flight laser designs. System-level issues such as power cycling, operational derating, duty cycle, and contamination risks to other laser components are some of the more significant unknown, if unquantifiable, parameters that directly effect transmitter reliability. Designs and processes can be formulated for the system and the components (including thorough modeling) to mitigate risk based on the known failures modes as well as lessons learned that GSFC has collected over the past ten years of space flight operation of lasers. In addition, knowledge of the potential failure modes related to the system and the components themselves can allow the qualification testing to be done in an efficient yet, effective manner. Careful test plan development coupled with physics of failure knowledge will enable cost effect qualification of commercial technology. Presented here will be lessons learned from space flight experience, brief synopsis of known potential failure modes, mitigation techniques, and options for testing from the system level to the component level.

Ott, Melanie N.↗

Evaluating Nextgen Closely Spaced Parallel Operations Concepts with Validated Human Performance Models: Flight Deck Guidelines

The objectives of the current research were to develop valid human performance models (HPMs) of approach and land operations; use these models to evaluate the impact of NextGen Closely Spaced Parallel Operations (CSPO) on pilot performance; and draw conclusions regarding flight deck display design and pilot-ATC roles and responsibilities for NextGen CSPO concepts. This document presents guidelines and implications for flight deck display designs and candidate roles and responsibilities. A companion document (Gore, Hooey, Mahlstedt, & Foyle, 2013) provides complete scenario descriptions and results including predictions of pilot workload, visual attention and time to detect off-nominal events.

guidelines↗

Spacecraft Autonomy and Automation: A Comparative Analysis of Strategies for Cost Effective Mission Operations

The evolution of satellite operations over the last 40 years has drastically changed. October 4, 1957 (during the cold war) the Soviet Union launched the world's first spacecraft into orbit. The Sputnik satellite orbited Earth for three months and catapulted the United States into a race for dominance in space. A year after Sputnik, President Dwight Eisenhower formed the National Space and Aeronautics Administration (NASA). With a team of scientists and engineers, NASA successfully launched Explorer 1, the first US satellite to orbit Earth. During these early years, massive amounts of ground support equipment and operators were required to successfully operate spacecraft vehicles. Today, budget reductions and technological advances have forced new approaches to spacecraft operations. These approaches require increasingly complex, on board spacecraft systems, that enable autonomous operations, resulting in more cost-effective mission operations. NASA's Goddard Space Flight Center, considered world class in satellite development and operations, has developed and operated over 200 satellites during its 40 years of existence. NASA Goddard is adopting several new millennium initiatives that lower operational costs through the spacecraft autonomy and automation. This paper examines NASA's approach to spacecraft autonomy and ground system automation through a comparative analysis of satellite missions for Hubble Space Telescope-HST, Near Earth Asteroid Rendezvous-NEAR, and Solar Heliospheric Observatory-SoHO, with emphasis on cost reduction methods, risk analysis and anomalies and strategies employed for mitigating risk.

Wright, Nathaniel, Jr.↗

How HRP Research Results Contribute to Human Space Exploration Risk Mitigation

In addition to the scientific value of publications derived from research, results from Human Research Program (HRP) research also support HRP’s goals of mitigating crew health and performance risks in space flight. Research results are used to build the evidence base characterizing crew health and performance risks, to support risk research plan development, to inform crew health and performance standards, and to provide technologies to programs for meeting those standards and optimizing crew health and performance in space. This talk will describe examples of how research results support these efforts. For example, HRP research results are used to revise or even create new standards for human space flight, which have been established to protect crew health and performance during flight, and prevent negative long-term health consequences due to space flight. These standards are based on the best available clinical and scientific evidence, as well as operational experience from previous space flight missions, and are reviewed as new evidence emerges. Research results are also used to update the HRP evidence base, which is comprised of a set of reports that provide a current record of the state of knowledge from research and operations for each of the defined human health and performance risks for future NASA exploration missions. A discussion of the role of evidence within the HRP architecture will also be presented. The scope of HRP research results extends well beyond publications, as they are used in several capacities to support HRP deliverables and, ultimately, the advancement of human space exploration beyond low-Earth orbit.

Lumpkins, S. B.↗

How HRP Research Results Contribute to Human Space Exploration Risk Mitigation

In addition to the scientific value of publications derived from research, results from Human Research Program (HRP) research also support HRP's goals of mitigating crew health and performance risks in space flight. Research results are used to build the evidence base characterizing crew health and performance risks, to support risk research plan development, to inform crew health and performance standards, and to provide technologies to programs for meeting those standards and optimizing crew health and performance in space. This talk will describe examples of how research results support these efforts. For example, HRP research results are used to revise or even create new standards for human space flight, which have been established to protect crew health and performance during flight, and prevent negative long-term health consequences due to space flight. These standards are based on the best available clinical and scientific evidence, as well as operational experience from previous space flight missions, and are reviewed as new evidence emerges. Research results are also used to update the HRP evidence base, which is comprised of a set of reports that provide a current record of the state of knowledge from research and operations for each of the defined human health and performance risks for future NASA exploration missions. A discussion of the role of evidence within the HRP architecture will also be presented. The scope of HRP research results extends well beyond publications, as they are used in several capacities to support HRP deliverables and, ultimately, the advancement of human space exploration beyond low-Earth orbit.

Lumpkins, Sarah↗

An Analysis for an Internet Grid to Support Space Based Operations

Currently, and in the past, dedicated communication circuits and "network services" with very stringent performance requirements have been used to support manned and unmanned mission critical ground operations at GSFC, JSC, MSFC, KSC and other NASA facilities. Because of the evolution of network technology, it is time to investigate other approaches to providing mission services for space ground and flight operations. In various scientific disciplines, effort is under way to develop network/komputing grids. These grids consisting of networks and computing equipment are enabling lower cost science. Specifically, earthquake research is headed in this direction. With a standard for network and computing interfaces using a grid, a researcher would not be required to develop and engineer NASA/DoD specific interfaces with the attendant increased cost. Use of the Internet Protocol (IP), CCSDS packet spec, and reed-solomon for satellite error correction etc. can be adopted/standardized to provide these interfaces. Generally most interfaces are developed at least to some degree end to end. This study would investigate the feasibility of using existing standards and protocols necessary to implement a SpaceOps Grid. New interface definitions or adoption/modification of existing ones for the various space operational services is required for voice both space based and ground, video, telemetry, commanding and planning may play a role to some undefined level. Security will be a separate focus in the study since security is such a large issue in using public networks. This SpaceOps Grid would be transparent to users. It would be anagulous to the Ethernet protocol's ease of use in that a researcher would plug in their experiment or instrument at one end and would be connected to the appropriate host or server without further intervention. Free flyers would be in this category as well. They would be launched and would transmit without any further intervention with the researcher or ground ops personnel. The payback in developing these new approaches in support of manned and unmanned operations is lower cost and will enable direct participation by more people in organizations and educational institutions in space based science. By lowering the high cost of space based operations and networking, more resource will be available to the science community for science. With a specific grid in place, experiment development and operations would be much less costly by using standardized network interfaces. Because of the extensive connectivity on a global basis, significant numbers of people would participate in science who otherwise would not be able to participate.

Bradford, Robert↗

Coarsening Experiment Prepared for Flight

The Coarsening in Solid-Liquid Mixtures-2 (CSLM-2) experiment is a materials science spaceflight experiment whose purpose is to investigate the kinetics of competitive particle growth within a liquid matrix. During coarsening, small particles shrink by losing atoms to larger particles, causing the larger particles to grow. In this experiment, solid particles of tin will grow (coarsen) within a liquid lead-tin eutectic matrix. The following figures show the coarsening of tin particles in a lead-tin (Pb-Sn) eutectic as a function of time. By conducting this experiment in a microgravity environment, we can study a greater range of solid volume fractions, and the effects of sedimentation present in terrestrial experiments will be negligible. The CSLM-2 experiment flew November 2002 on space shuttle flight STS-113 for operation on the International Space Station, but it could not be run because of problems with the Microgravity Science Glovebox in the U.S. Laboratory module. Additional samples will be sent to ISS on subsequent shuttle flights.

Hickman, J. Mark↗

Concept of Operations for OSIRIS-REx Optical Navigation Image Planning

Optical navigation (OpNav) is a critical subsystem of the OSIRIS-REx asteroid sample return mission, which operated in the vicinity of near-Earth asteroid (101955) Bennu from August 2018 through April 2021. A substantial amount of mission resources across multiple subsystems and institutions is required to ensure that the OpNav data are successfully acquired. The KinetX OpNav team, part of the Flight Dynamics System (FDS), is responsible for performing required analysis to develop the OpNav operations plans; requesting, reviewing and verifying the plans; and ultimately using the image data for critical navigation operations. The FDS team, responsible for the mission navigation, is operated by KinetX Aerospace with management and operations support from NASA’s Goddard Space Flight Center. The Science Processing and Operations Center (SPOC), located at the University of Arizona’s Lunar and Planetary Laboratory, is responsible for generating the planning products for all science and most OpNav data. These plans are integrated into the spacecraft sequences, tested, and commanded by the Mission Support Area (MSA) at Lockheed Martin Space. To ensure mission-critical navigation image data are successfully acquired, the plan is developed through a waterfall of planning cycles over the course of 3 months prior to onboard plan execution. During the initial strategic planning for a mission phase, detailed analysis is performed by the OpNav team to conceptualize the concept of operations (ConOps) for image data collection. This phase OpNav Narrative is included along with other strategic planning documents for the key ground segment stakeholders to review and provide feedback. The detailed OpNav plans get defined in the tactical planning cycle, which spans 8 to 3 weeks before the week-long integrated sequence is executed on-board the spacecraft. During the tactical cycle, the initial OpNav Request is submitted along with the science requests, kicking off development of the science and OpNav plans. Once the initial plan is drafted, interfaces are exercised so that the plan can be reviewed and iterated, if necessary. A rigorous schedule is followed by the planning teams during the implementation cycle, spanning the last 18 days before uplink, to ensure all the necessary integration, testing, and reviewing can occur on time. The development of the OpNav planning ConOps, including responsibilities, interfaces, timelines, and procedures, took extensive collaboration across mission elements and institutions. The process was robust throughout the 137 weeks of continuous Optical Navigation Operations at Bennu, which concluded on April 9th, 2021.

Coralie D. Adam↗

Flight Validation of On-Demand Operations: The Deep Space One Beacon Monitor Operations Experiment

After a brief overview of the operational concept, this paper will provide a detailed description of the _as-flown_ flight software components, the DS1 experiment plan, and experiment results to date. Special emphasis will be given to experiment results and lessons learned since the basic system design has been previously reported. Mission scenarios where beacon operations is highly applicable will be described. Detailed cost savings estimates for a sample science mission will be provided as will cumulative savings that are possible over the next fifteen years of NASA missions.

Wyatt, Jay↗