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NASA NTRS2010

Ultra Reliable Closed Loop Life Support for Long Space Missions

Spacecraft human life support systems can achieve ultra reliability by providing sufficient spares to replace all failed components. The additional mass of spares for ultra reliability is approximately equal to the original system mass, provided that the original system reliability is not too low. Acceptable reliability can be achieved for the Space Shuttle and Space Station by preventive maintenance and by replacing failed units. However, on-demand maintenance and repair requires a logistics supply chain in place to provide the needed spares. In contrast, a Mars or other long space mission must take along all the needed spares, since resupply is not possible. Long missions must achieve ultra reliability, a very low failure rate per hour, since they will take years rather than weeks and cannot be cut short if a failure occurs. Also, distant missions have a much higher mass launch cost per kilogram than near-Earth missions. Achieving ultra reliable spacecraft life support systems with acceptable mass will require a well-planned and extensive development effort. Analysis must determine the reliability requirement and allocate it to subsystems and components. Ultra reliability requires reducing the intrinsic failure causes, providing spares to replace failed components and having "graceful" failure modes. Technologies, components, and materials must be selected and designed for high reliability. Long duration testing is needed to confirm very low failure rates. Systems design should segregate the failure causes in the smallest, most easily replaceable parts. The system must be designed, developed, integrated, and tested with system reliability in mind. Maintenance and reparability of failed units must not add to the probability of failure. The overall system must be tested sufficiently to identify any design errors. A program to develop ultra reliable space life support systems with acceptable mass should start soon since it must be a long term effort.

Jones, Harry W.↗
NASA NTRS2000

Nutritional Biochemistry of Space Flight

Adequate nutrition is critical for maintenance of crew health during and after extended-duration space flight. The impact of weightlessness on human physiology is profound, with effects on many systems related to nutrition, including bone, muscle, hematology, fluid and electrolyte regulation. Additionally, we have much to learn regarding the impact of weightlessness on absorption, m~tabolism , and excretion of nutrients, and this will ultimately determine the nutrient requirements for extended-duration space flight. Existing nutritional requirements for extended-duration space flight have been formulated based on limited flight research, and extrapolation from ground-based research. NASA's Nutritional Biochemistry Laboratory is charged with defining the nutritional requirements for space flight. This is accomplished through both operational and research projects. A nutritional status assessment program is included operationally for all International Space Station astronauts. This medical requirement includes biochemical and dietary assessments, and is completed before, during, and after the missions. This program will provide information about crew health and nutritional status, and will also provide assessments of countermeasure efficacy. Ongoing research projects include studies of calcium and bone metabolism, and iron absorption and metabolism. The calcium studies include measurements of endocrine regulation of calcium homeostasis, biochemical marker~ of bone metabolism, and tracer kinetic studies of calcium movement in the body. These calcium kinetic studies allow for estimation of intestinal absorption, urinary excretion, and perhaps most importantly - deposition and resorption of calcium from bone. The Calcium Kinetics experiment is currently being prepared for flight on the Space Shuttle in 2001, and potentially for subsequent Shuttle and International Space Station missions. The iron study is intended to assess whether iron absorption is down-regulated dUl1ng space flight. This is critical due to the red blood cell changes which occur, and the increase in iron storage that has been observed after space flight. The Iron Absorption and Metabolism experiment is currently planned for long-term flights on the International Space Station.

Smith, Scott M.↗
NASA NTRS2016

Systems Analysis of In-Space Manufacturing Applications for the International Space Station and the Evolvable Mars Campaign

Maintenance logistics support is a significant challenge for extended human operations in space, especially for missions beyond Low Earth Orbit (LEO). For missions to Mars (such as NASA's Evolvable Mars Campaign (EMC)), where timely resupply or abort in the event of emergency will not be possible, maintenance logistics mass is directly linked to the Probability of Loss of Crew (P(LoC)), and the cost of driving down risk is an exponential increase in mass requirements. The logistics support strategies that have maintained human operations in LEO will not be effective for these deep space missions. In-Space Manufacturing (ISM) is a promising technological solution that could reduce logistics requirements, mitigate risks, and augment operational capabilities, enabling Earth- independent human spaceflight. This paper reviews maintenance logistics challenges for spaceflight operations in LEO and beyond, and presents a summary of selected results from a systems analysis of potential ISM applications for the ISS and EMC. A quantitative modeling framework and sample assessment of maintenance logistics and risk reduction potential of this new technology is also presented and discussed.

Owens, Andrew C.↗
NASA NTRS1993

Inertial-space disturbance rejection for space-based manipulators

The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.

Holt, Kevin↗
NASA NTRS2004

Indentured Parts List Maintenance and Part Assembly Capture Tool - IMPACT

Johnson Space Center's (JSC's) indentured parts list (IPL) maintenance and parts assembly capture tool (IMPACT) is an easy-to-use graphical interface for viewing and maintaining the complex assembly hierarchies of large databases. IMPACT, already in use at JSC to support the International Space Station (ISS), queries, updates, modifies, and views data in IPL and associated resource data, functions that it can also perform, with modification, for any large commercial database. By enabling its users to efficiently view and manipulate IPL hierarchical data, IMPACT performs a function unlike that of any other tool. Through IMPACT, users will achieve results quickly, efficiently, and cost effectively.

Jain, Bobby↗
NASA NTRS2011

Dexterous Operations on ISS and Future Applications

The Mobile Servicing System (MSS) is a complex robotics system used extensively in the assembly, inspection and maintenance of the International Space Station (ISS). Its external components are comprised of the Space Station Remote Manipulator System (SSRMS), the Mobile Base System (MBS), and the Special Purpose Dexterous Manipulator (SPDM or "Dextre"). Dexterous robotic maintenance operations on the ISS are now enabled with the launch and deployment of "Dextre" in March 2008 and the recently completed commissioning to support nominal operations. These operations include allowing for maintenance of the MSS capability to be executed uniquely via robotic means. Examples are detailed inspection and the removal and replacement of On-orbit Replaceable Units (ORUs) located outside the pressurized volume of the ISS, alleviating astronauts from performing numerous risky and time-consuming extra-vehicular activities (EVAs). In light of the proposed extension of the ISS to 2020 and beyond, "Dextre" can also be seen as a resource for the support and conduct of external ISS experiments. "Dextre" can be utilized to move experiments around ISS, as test bed for more elaborate experiments outside the original design intent, and as a unique platform for external experiments. This paper summarizes the status of "Dextre", its planned use, and future potential for dexterous operations on the ISS. Lessons learned from the planning and execution of SPDM commissioning are first introduced, and significant differences between "Dextre" and SSRMS operations are discussed. The use of ground control as the predominant method for operating "Dextre" is highlighted, along with the benefits and challenges that this poses. Finally, the latest plans for dexterous operations on ISS are summarized including visiting vehicle unloading, nominal maintenance, and operations of a more experimental flavor.

Keenan, P. Andrew↗
NASA NTRS1975

The economics of satellite maintenance

The primary goal of the space transportation system - to reduce the cost of space programs while satisfying their mission requirements - can be enhanced by the proper choice of a satellite-maintenance concept. This paper develops the life-cycle costs of performing an automated satellite program during the shuttle era in three competitive modes: expendable, ground-refurbishable, and in-orbit maintainable. In-orbit maintenance is shown to be the most economic maintenance mode for both low- and high-earth orbits.

Derocher, W. L., Jr.↗
NASA NTRS1970

Experiment module concepts study. Volume 1: Management summary

The minimum number of standardized (common) module concepts that will satisfy the experiment program for manned space stations at least cost is investigated. The module interfaces with other elements such as the space shuttle, ground stations, and the experiments themselves are defined. The total experiment module program resource and test requirements are also considered. The minimum number of common module concepts that will satisfy the program at least cost is found to be three, plus a propulsion slice and certain experiment-peculiar integration hardware. The experiment modules rely on the space station for operational, maintenance, and logistic support. They are compatible with both expendable and shuttle launch vehicles, and with servicing by shuttle, tug, or directly from the space station. A total experiment module program cost of approximately $2319M under the study assumptions is indicated. This total is made up of $838M for experiment module development and production, $806M for experiment equipment, and $675M for interface hardware, experiment integration, launch and flight operations, and program management and support.

Source record↗
NASA NTRS1972

Integrated operations/payloads/fleet analysis (executive summary)

The Integrated Operations/Payloads/Fleet Analysis predicts total national space program costs and launch vehicle traffic assuming either an expendable, a partially reusable or a fully reusable launch vehicle fleet. The payload system costs are estimated and reported for each payload program at the subsystem level, payload program level, user level and national level, providing complete system cost traceability. The analysis determines the primary changes to be expected for space payload programs and space operations in the space shuttle era. When the space shuttle becomes fully operational, not only will launch costs be reduced but refurbished satellite units will be flown instead of new units and maintenance will be performed on failing satellites. It is possible to implement the concepts of satellite refurbishment and maintenance because of the space shuttle's capability to retrieve and return payloads to the earth's surface. The two-way satellite transportation capability is extended to high energy orbits by use of the space shuttle/space tug combination.

Source record↗
NASA NTRS1980

Modeling a maintenance simulation of the geosynchronous platform

A modeling technique used to conduct a simulation study comparing various maintenance routines for a space platform is dicussed. A system model is described and illustrated, the basic concepts of a simulation pass are detailed, and sections on failures and maintenance are included. The operation of the system across time is best modeled by a discrete event approach with two basic events - failure and maintenance of the system. Each overall simulation run consists of introducing a particular model of the physical system, together with a maintenance policy, demand function, and mission lifetime. The system is then run through many passes, each pass corresponding to one mission and the model is re-initialized before each pass. Statistics are compiled at the end of each pass and after the last pass a report is printed. Items of interest typically include the time to first maintenance, total number of maintenance trips for each pass, average capability of the system, etc.

Kleiner, A. F., Jr.↗
NASA NTRS1996

Aerospace applications of virtual environment technology

The uses of virtual environment technology in the space program are examined with emphasis on training for the Hubble Space Telescope Repair and Maintenance Mission in 1993. Project ScienceSpace at the Virtual Environment Technology Lab is discussed.

Astronauts/education↗
NASA NTRS1991

Operations with the special purpose dextrous manipulator on Space Station Freedom

SPAR Canada is actively participating in the Space Station Freedom Program by contributing the Mobile Servicing System (MSS) which will be involved in assembly, maintenance and servicing of both the Space Station and the MSS itself. Part of the MSS is the Special Purpose Dextrous Manipulator (SPDM), a two armed dextrous robot with advanced vision and manipulative capabilities. In addition to Space Station and payload servicing activities the SPDM will be designed to perform self maintenance on the MSS itself. The majority of Space Station equipment will be on orbit for the anticipated 30 year lifespan and the maintenance philosophy will be to repair by the exchange of Orbit Replacement Units or ORUs. The present concept, configuration, and operation of the SPDM and the detailed simulations associated with the maintenance of part of the MSS are described. The Design Reference Mission is the replacement of a Joint Drive Module on the Canadian large payload manipulator, the Space Station Remote Manipulator System. Other Design Reference Missions that were investigated are briefly described, and future operations activity to support the definition of SPDM requirements are discussed.

Cox, B.↗
NASA NTRS1990

Space Station long term lubrication analysis. Phase 1 preliminary tribological survey

Increases in the size, complexity, and life requirements of satellites and space vehicles have put increasing demands on the lubrication requirements for trouble-free service. Since the development costs of large systems are high, long lives with minimum maintenance are dictated. The Space Station represents the latest level of size and complexity in satellite development; it will be nearly 100 meters in major dimensions and will have a life requirement of thirty years. It will have numerous mechanisms critical to its success, some of which will be exposed to the space environment. Designing long-life lubrication systems and choosing appropriate lubricants for these systems will be necessary for their meeting the requirements and for avoiding failures with associated dependent mechanisms. The purpose of this program was to identify the various critical mechanisms and review their designs during the overall design and development stage so that problem areas could be avoided or minimized prior to the fabrication of hardware. The specific objectives were fourfold: (1) to perform a tribology survey of the Space Station for the purpose of documenting each wear point as to materials involved, environmental conditions, and operating characteristics; (2) to review each wear point (point of relative motion) as to the lubrication used and substrate materials selected in the context of its operating characteristics and the environmental conditions imposed; (3) to make recommendations for improvement in areas where the lubricant chosen and/or where the substrate (materials of the wear couple) are not considered optimum for the application; and (4) to make or recommend simulated or full scale tests in tribological areas where the state-of-the-art is being advanced, in areas where new designs are obviously being employed and a critical review would indicate that problems are a strong possibility, and/or where excessive wear, a malfunction, or excessive leakage would create fluid systems problems or contamination of exposed optical equipment.

Dufrane, K. F.↗
NASA NTRS1994

EVA-SCRAM operations

This paper wrestles with the on-orbit operational challenges introduced by the proposed Space Construction, Repair, and Maintenance (SCRAM) tool kit for Extra-Vehicular Activity (EVA). SCRAM undertakes a new challenging series of on-orbit tasks in support of the near-term Hubble Space Telescope, Extended Duration Orbiter, Long Duration Orbiter, Space Station Freedom, other orbital platforms, and even the future manned Lunar/Mars missions. These new EVA tasks involve welding, brazing, cutting, coating, heat-treating, and cleaning operations. Anticipated near-term EVA-SCRAM applications include construction of fluid lines and structural members, repair of punctures by orbital debris, refurbishment of surfaces eroded by atomic oxygen, and cleaning of optical, solar panel, and high emissivity radiator surfaces which have been degraded by contaminants. Future EVA-SCRAM applications are also examined, involving mass production tasks automated with robotics and artificial intelligence, for construction of large truss, aerobrake, and reactor shadow shield structures. Realistically achieving EVA-SCRAM is examined by addressing manual, teleoperated, semi-automated, and fully-automated operation modes. The operational challenges posed by EVA-SCRAM tasks are reviewed with respect to capabilities of existing and upcoming EVA systems, such as the Extravehicular Mobility Unit, the Shuttle Remote Manipulating System, the Dexterous End Effector, and the Servicing Aid Tool.

Flanigan, Lee A.↗
NASA NTRS1992

Interactive Scene Analysis Module - A sensor-database fusion system for telerobotic environments

Accomplishing a task with telerobotics typically involves a combination of operator control/supervision and a 'script' of preprogrammed commands. These commands usually assume that the location of various objects in the task space conform to some internal representation (database) of that task space. The ability to quickly and accurately verify the task environment against the internal database would improve the robustness of these preprogrammed commands. In addition, the on-line initialization and maintenance of a task space database is difficult for operators using Cartesian coordinates alone. This paper describes the Interactive Scene' Analysis Module (ISAM) developed to provide taskspace database initialization and verification utilizing 3-D graphic overlay modelling, video imaging, and laser radar based range imaging. Through the fusion of taskspace database information and image sensor data, a verifiable taskspace model is generated providing location and orientation data for objects in a task space. This paper also describes applications of the ISAM in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center, and discusses its performance relative to representation accuracy and operator interface efficiency.

Cooper, Eric G.↗
NASA NTRS1995

A Collection of Technical Papers

Papers presented at the 6th Space Logistics Symposium covered such areas as: The International Space Station; The Hubble Space Telescope; Launch site computer simulation; Integrated logistics support; The Baikonur Cosmodrome; Probabalistic tools for high confidence repair; A simple space station rescue vehicle; Integrated Traffic Model for the International Space Station; Packaging the maintenance shop; Leading edge software support; Storage information management system; Consolidated maintenance inventory logistics planning; Operation concepts for a single stage to orbit vehicle; Mission architecture for human lunar exploration; Logistics of a lunar based solar power satellite scenario; Just in time in space; NASA acquisitions/logistics; Effective transition management; Shuttle logistics; and Revitalized space operations through total quality control management.

Source record↗
NASA NTRS1987

Telerobot for space station

The Flight Telerobotic Servicer (FTS), a multiple arm dexterous manipulation system, will aid in the assembly, maintenance, and servicing of the space station. Fundamental ideas and basic conceptual designs for a shuttle-based telerobot system have been produced. Recent space station studies provide additional concepts that should aid in the accomplishment of mission requirements. Currently, the FTS is in contractual source selection for a Phase B preliminary design. At the same time, design requirements are being developed through a series of robotic assessment tasks being performed at NASA and commercial installations. A number of the requirements for remote operation on the space station, necessary to supplement extravehicular activity (EVA), will be met by the FTS. Finally, technology developed for telerobotics will advance the state of the art of remote operating systems, enhance operator productivity, and prove instrumental in the evolution of an adaptive, intelligent autonomous robot.

Jenkins, Lyle M.↗