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Laboratory telerobotic system performs such complicated tasks as picking up tools, removing thermal blanket, and replacing screws. Human operator in control room operates remote robot with aid of video monitors, torque and force displays, and force feedback. System used to perform research and to develop telerobotic-repair capabilities equal to those of human operator.
This report presents results of tests performed in neutral buoyancy by two pressure-suited test subjects to simulate Extravehicular Activity (EVA) tasks associated with the on-orbit construction and repair of a precision reflector spacecraft. Two complete neutral buoyancy assemblies of the test article (tetrahedral truss with three attached reflector panels) were performed. Truss joint hardware, two different panel attachment hardware concepts, and a panel replacement tool were evaluated. The test subjects found the operation and size of the truss joint hardware to be acceptable. Both panel attachment concepts were found to be EVA compatible, although one concept was judged by the test subjects to be considerably easier to operate. The average time to install a panel from a position within arm's reach of the test subjects was 1 min 14 sec. The panel replacement tool was used successfully to demonstrate the removal and replacement of a damaged reflector panel in 10 min 25 sec.
Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.
This paper describes a simple heuristic approach to solving large-scale constraint satisfaction and scheduling problems. In this approach one starts with an inconsistent assignment for a set of variables and searches through the space of possible repairs. The search can be guided by a value-ordering heuristic, the min-conflicts heuristic, that attempts to minimize the number of constraint violations after each step. The heuristic can be used with a variety of different search strategies. We demonstrate empirically that on the n-queens problem, a technique based on this approach performs orders of magnitude better than traditional backtracking techniques. We also describe a scheduling application where the approach has been used successfully. A theoretical analysis is presented both to explain why this method works well on certain types of problems and to predict when it is likely to be most effective.
Integrated Space Systems (ISS) has taken on the task of designing a Space Habitat, Assembly and Repair Center (SHARC) in Low Earth Orbit to meet the future needs of the space program. Our goal is to meet the general requirements given by the 1991/1992 AIAA/LORAL Team Space Design competition with an emphasis on minimizing the costs of such a design. A baseline structural configuration along with preliminary designs of the major subsystems was created. Our initial mission requirements, which were set by AIAA, were that the facility be able to: support simultaneous assembly of three major vehicles; conduct assembly operations and minimal extra vehicular activity (EVA); maintain orbit indefinitely; and assemble components 30 feet long with a 10 foot diameter in a shirtsleeve environment.
The work described in this paper was inspired by a surprisingly effective neural network developed for scheduling astronomical observations on the Hubble Space Telescope. Our heuristic constraint satisfaction problem (CSP) method was distilled from an analysis of the network. In the process of carrying out the analysis, we discovered that the effectiveness of the network has little to do with its connectionist implementation. Furthermore, the ideas employed in the network can be implemented very efficiently within a symbolic CSP framework. The symbolic implementation is extremely simple. It also has the advantage that several different search strategies can be employed, although we have found that hill-climbing methods are particularly well-suited for the applications that we have investigated. We begin the paper with a brief review of the neural network. Following this, we describe our symbolic method for heuristic repair.
A technique to weld repair the main combustion chamber of Space Shuttle Main Engines has been developed. The technique uses the plasma arc welding process and active cooling to seal cracks and pinholes in the hot-gas wall of the main combustion chamber liner. The liner hot-gas wall is made of NARloy-Z, a copper alloy previously thought to be unweldable using conventional arc welding processes. The process must provide extensive heat input to melt the high conductivity NARloy-Z while protecting the delicate structure of the surrounding material. The higher energy density of the plasma arc process provides the necessary heat input while active water cooling protects the surrounding structure. The welding process is precisely controlled using a computerized robotic welding system.
Radiobiology experiments performed in space will encounter continuous exposures to the cosmic rays and fractionated exposures to trapped protons which accumulate to several hundred dose fractions in a few weeks. Using models of track structure and cellular kinetics combined with models of the radiation environment and radiation transport, we consider calculations of damage rates for cell cultures. Analysis of the role of repair mechanisms for space exposures for the endpoints of survival and transformation is emphasized.
The bending effects of unsymmetrically bonded composite repairs on cracked aluminum panels were quantified using a plate linear finite element model. Stress intensity factors and strain energy release rates were obtained from the model twice, once with out-of-plane displacement suppressed and another time without these restrictions. Several configurations were examined, crack growth stability was identified, and the effect of a debond was considered. The maximum stress intensity factor was also analyzed. Previous work by other authors was found to underpredict the bending effect.
This is a paper on a research and development project to demonstrate a novel ultrasonic process for the field application of boron/epoxy (B/Ep) patches for repair of aircraft structures. The first phase of the project was on process optimization and testing to develop the most practical ultrasonic processing techniques. Accelerated testing and aging behavior of precured B/Ep patches, which were ultrasonically bonded to simulated B-52 wing panel assemblies, were performed by conducting flight-by-flight spectrum loading fatigue tests. The spectrum represented 2340 missions/flights or 30 years of service. The effects of steady-state applied temperature and prior exposure of the B/Ep composite patches were evaluated. Representative experimental results of this phase of the project are presented.
Over several years we have developed a multistrategy apprenticeship learning methodology for building knowledge-based systems. Recently we have developed and applied our methodology to building intelligent agents. This methodology allows a subject matter expert to build an agent in the same way in which the expert would teach a human apprentice. The expert will give the agent specific examples of problems and solutions, explanations of these solutions, or supervise the agent as it solves new problems. During such interactions, the agent learns general rules and concepts, continuously extending and improving its knowledge base. In this paper we present initial results on applying this methodology to build an intelligent adaptive agent for monitoring and repair of the electrical power system of an orbital satellite, stressing the interaction with the expert during apprenticeship learning.
The skin repair studies started to be problematic for the following reasons: (1) It was very difficult to locate the wound and many lesions were not of the same dimensions. A considerable amount of time was devoted to the identification of the wound using polarized light. We understand that this experiment was added on to the overall project. Marking of the wound site and standard dimensions should be recommended for the next flight experiment. (2) The tissue was frozen, therefore thawing and fixation caused problems with some of the immunocytochemical staining for obtaining better special resolution with light microscopy image processing. Despite these problems, we were unable to detect any significant qualitative differences for the following wound markers: (1) Collagen Type 3, (2) Hematotoxylin and Eosin, and (3) Macrophage Factor 13. All protein markers were isolated from rat sources and antibodies prepared and tested for cross reactivity with other molecules at the University of Wisconsin Hybridoma Facility. However, rat skin from the non lesioned site 'normal' showed interesting biochemical results. Skin was prepared for the following measurements: (1) DNA content, (2) Collagen content by hydroxyproline, and (3) uronic acid content and estimation of ground substance. The results indicated there was a non-significant increase (10%) in the DNA concentration of skin from flight animals. However, the data expressed as a ratio DNA/Collagen estimates the cell or nuclear density that supports a given quantity of collagen showed a dramatic increase in the flight group (33%). This means flight conditions may have slowed down collagen secretion and/or increased cell proliferation in adult rat skin. Further biochemical tests are being done to determine the crosslinking of elastin which will enhance the insight to assessing changes in skin turnover.
This report covers the work completed in the third year of the contract. The principle activities during this period were (1) the characterization of the NEAR 2 Gamma Ray Spectrometer using a neutron generator to generate complex gamma ray spectra and a large Ge Detecter to identify all the major peaks in the spectra; (2) the evaluation and repair of the Engineering Model Unit of the Gamma Ray Spectrometer for the NEAR mission; (3) the investigation of polycapillary x-ray optics for x-ray detection; and (4) technology transfer from NASA to forensic science.
In the ensuing period we were able to demonstrate that the origin of these filamentous patterns resulted from the action of synoptic-scale vortical velocity field on the global-scale background gradient of ozone concentration in the meridional direction. Hyperbolic flow patterns between long-lived atmospheric vortices bring together air parcels from different latitudes, thus creating large gradients along the separatrices leaving the hyperbolic (stagnation) point. This result is further confirmed by the KL analysis of the ozone field in the equatorial region, where the background concentration gradient vanishes. The spectral slope in this region has been found to lie close to -1, in agreement with Batchelor's prediction. Another outcome of this result is that it at least provides indirect evidence about the kinetic energy spectrum of the atmospheric turbulence in the range of scales approximately 200 to 2000 km. Namely, Batchelor's analysis is based on the assumption that the velocity field is large-scale, that is the kinetic energy spectrum decays as O(k(sup -3)) or steeper. Since the scalar spectrum is confirmed, this also supports this form of the kinetic energy spectrum. The study of equatorial regions of TOMS data revealed the efficiency of the KL method is in detecting and separating a wave-like measurement artifact inherently present in the dataset due to the non-perfect correction for cross-track bias. Just two to three eigenfunctions represent the error, which makes it possible to enhance the data by reconstituting it from the data by eliminating the subspace of artifactual eigenfunctions. This represents a highly efficient means for achieving an improved rendering of the data. This has been implemented on the database. A wide range of techniques and algorithms have been developed for the repair and extension of the TOMS database.
An autonomous spacecraft must balance long-term and short-term considerations. It must perform purposeful activities that ensure long-term science and engineering goals are achieved and ensure that it maintains positive resource margins. This requires planning in advance to avoid a series of shortsighted decisions that can lead to failure, However, it must also respond in a timely fashion to a somewhat dynamic and unpredictable environment. Thus, spacecraft plans must often be modified due to fortuitous events such as early completion of observations and setbacks such as failure to acquire a guidestar for a science observation. This paper describes the use of iterative repair to support continuous modification and updating of a current working plan in light of changing operating context.
This NASA Kennedy Space Center video release presents footage of workcrews moving the WIND solar panel in order to make repairs in Hangar AO prior to launch at Cape Canaveral Air Station, Sep. 13, 1994. WIND was launched on November 1, 1994 and is the first of two NASA spacecraft in the Global Geospace Science initiative and part of the International Solar Terrestrial Physics (ISTP) Project.
A friction stir weld system for welding and weld repair has a base foundation unit connected to a hydraulically controlled elevation platform and a hydraulically adjustable pin tool. The base foundation unit may be fixably connected to a horizontal surface or may be connected to a mobile support in order to provide mobility to the friction stir welding system. The elevation platform may be utilized to raise and lower the adjustable pin tool about a particular axis. Additional components which may be necessary for the friction stir welding process include back plate tooling, fixturing and/or a roller mechanism.
This paper presents the final report on Skeletal Muscle Growth and Repair During Microgravity. This report covers the period of July 1, 1998 through June 30, 2002.