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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1987

Apparatus and method of capturing an orbiting spacecraft

Apparatus and a method of capturing an orbiting spacecraft by attaching a grapple fixture are discussed. A probe is inserted into an opening, such as a rocket nozzle, in the spacecraft until a stop on the prove mechanism contacts the spacecraft. A lever is actuated releasing a spring loaded rod which moves axially along the probe removing a covering sleeve to expose spring loaded toffle fingers which pivot open engaging the side of the opening. The probe is shortened and tensioned by turning a screw thread, pressing the fingers inside of the opening to compress the spacecraft between the toggle fingers and the stop. A grapple fixture attached to the probe, which is thus secured to the spacecraft, is engaged by appropriate retrieval means such as a remote manipulator arm.

Harwell, William D.↗

NASA NTRS1991

Employing lighting techniques during on-orbit operations

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

Wheelwright, Charles D.↗

NASA NTRS2002

STS-109 Flight Day 3 Highlights

This footage from the third day of the STS-109 mission to service the Hubble Space Telescope (HST) begins with the grappling of the HST by the robotic arm of the Columbia Orbiter, operated by Mission Specialist Nancy Currie. During the grappling, numerous angles deliver close-up images of the telescope which appears to be in good shape despite many years in orbit around the Earth. Following the positioning of the HST on its berthing platform in the Shuttle bay, the robotic arm is used to perform an external survey of the telescope. Some cursory details are given about different equipment which will be installed on the HST including a replacement cooling system for the Near Infrared Camera Multi-Object Spectrometer (NICMOS) and the Advanced Camera for Surveys. Following the survey, there is footage of the retraction of both of the telescope's two flexible solar arrays, which was successful. These arrays will be replaced by rigid solar arrays with decreased surface area and increased performance.

Source record↗

NASA NTRS2002

STS-111 Flight Day 5 Highlights

On Flight Day 5 of STS-111, the crew of Endeavour (Kenneth Cockrell, Commander; Paul Lockhart, Pilot; Franklin Chang-Diaz, Mission Specialist; Philippe Perrin, Mission Specialist) and the Expedition 5 crew (Valery Korzun, Commander; Peggy Whitson, Flight Engineer; Sergei Treschev, Flight Engineer) and Expedition 4 crew (Yury Onufrienko, Commander; Daniel Bursch, Flight Engineer; Carl Walz, Flight Engineer) are aboard the docked Endeavour and International Space Station (ISS). The ISS cameras show the station in orbit above the North African coast and the Mediterranean Sea, as Chang-Diaz and Perrin prepare for an EVA (extravehicular activity). The Canadarm 2 robotic arm is shown in motion in a wide-angle shot. The Quest Airlock is shown as it opens to allow the astronauts to exit the station. As orbital sunrise approaches, the astronauts are shown already engaged in their EVA activities. Chang-Diaz is shown removing the PDGF (Power and Data Grapple Fixture) from Endeavour's payload bay as Perrin prepares its installation position in the ISS's P6 truss structure; The MPLM is also visible. Following the successful detachment of the PDGF, Chang-Diaz carries it to the installation site as he is transported there by the robotic arm. The astronauts are then shown installing the PDGF, with video provided by helmet-mounted cameras. Following this task, the astronauts are shown preparing the MBS (Mobile Base System) for grappling by the robotic arm. It will be mounted to the Mobile Transporter (MT), which will traverse a railroad-like system along the truss structures of the ISS, and support astronaut activities as well as provide an eventual mobile base for the robotic arm.

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NASA NTRS2012

Integrated Simulation Design Challenges to Support TPS Repair Operations

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSMS during the ORM, simulation tools used for previous ‘nominal’ mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. Prevalent throughout this ORM operation is a dynamically varying topology. In other words, the ORM starts with the SRMS grappled to the mated Shuttle/ISS stack (closed loop topology), moves to an open loop chain topology consisting of the Shuttle, SRMS, and ISS, and then, at the repair configuration, extends the chain topology to one consisting of the Shuttle, SMS, ISS, and SSRMS/EVA crewman. The resulting long dynamic chain of vehicles and manipulators may exhibit significant motion between the Shuttle worksite and the EVA crewman due to the system flexibility throughout the topology (particularly within the SRMS/SSRMS joints and links). Since the attachment points of both manipulators span the flexible structure of the ISS, simulation analysis may also need to take that into consideration. Moreover, due to the lengthy time duration associated with the maneuver and repair, orbital effects become a factor and require the ISS vehicle control system to maintain active attitude control. Several facets of the ORM operation make the associated analytical efforts different from previous mission support, including: (1) the magnitude of the SRMS handled payload (Le., Orbiter class), (2) the orbital effects induced on the integrated system consisting of the large Shuttle and ISS masses connected by a light flexible SRMS, (3) long duration environmental consequences due to the lengthy operational times associated with the maneuver and repair of the TPS, (4) active attitude control (as opposed to free drift) interacting with the SRMS and SSRMS manipulators (also due to the length of the maneuver and repair), (5) relative dynamics between the EVA crewman and thc worksite influenced by the extended flexible topology. In order to meet these analysis challenges, an ORM simulation architecture was developed leveraging upon numerous pre-existing simulation elements to analyze the various subsystems individually. For example, core manipulator subsystem simulations for both the SRMS and SSRMS were originally combined to provide the dual-arm dynamics topology simulation (in the absence of orbital dynamics and vehicle control). This capability was later merged with the simulation used to analyze SRMS loading with a heavy payload in the orbital environment with an active payload control system (in this case, the ISS Attitude Control System (ACS)), configured for the ORM. The resulting worksite dynamics simulation, based off of the modified ORM simulation, provided the extended topological chain of vehicles and manipulators, while taking into account the orbital effects of both the Shuttle and ISS (as well as its ACS). Verification and validation (V&V) of these integrated simulations became a challenge in itself. A systematic approach needed to be developed such that integration simulation results could be tested against previous constituent simulations upon which these simulations were built. General V&V categories included: (1) core orbital state propagation, (2), stand-alone SRMS, (3) stand-alone SSRMS, (4) stand-alone ISS ACS, (5) integrated Shuttle, SRMS, ISS (with active ACS) in the orbital environment, and (5) dual-arm SRMS/SSRMS dynamics topology. Integrated simulation V&V run suites were created and correlated to verification runs from subsystem simulations, in order to establish the validity of the results. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Thermal Protection System↗

NASA NTRS1972

Apollo 16 preliminary science report

Ever since Galileo's telescope made the rugged lunar surface more clearly visible (in 1610), men have strived to learn more about the origin and history of the Earth's big natural satellite, and never has so much progress been made as in the last few years. The fifth manned lunar landing was in a highlands area, quite different from the sites visited previously, and the discoveries there now seem certain to result in significant improvements in the hypotheses of lunar scientists. Much of the Moon's surface is similar to the Descartes Highlands that the Apollo 16 astronauts examined. From this highly productive mission, more photographs were obtained than on any previous Apollo flight, a greater amount of time was spent outside the lunar module, a greater weight of scientific equipment landed on the Moon, and a record weight of scientific samples was brought back to laboratories on Earth. The network of automatic scientific stations at work on the Moon was extended into a new area and has since detected a moonquake caused by the largest meteoroid impact that has yet been recorded. Additional experiments on the surface and in flight also were successfully performed on this mission for the enlightenment of students of natural phenomena. The Apollo 16 astronauts observed, and scientists studying material they collected have subsequently deduced, that this landing site differed surprisingly from earlier expectations. Future generations consequently may benefit from better concepts of the operation of the solar system and events throughout the physical universe than have hitherto been possible. This volume is but one of a series of NASA Special Publications being issued promptly to document potentially significant discoveries in the course of the Apollo Program, thereby possibly increasing their usefulness to scientists grappling with problems that have long perplexed mankind.

NASA Editorial Review Board↗

NASA NTRS1973

Recognition of surface lithologic and topographic patterns in southwest Colorado with ADP techniques

Analysis of ERTS-1 multispectral data by automatic pattern recognition procedures is applicable toward grappling with current and future resource stresses by providing a means for refining existing geologic maps. The procedures used in the current analysis already yield encouraging results toward the eventual machine recognition of extensive surface lithologic and topographic patterns. Automatic mapping of a series of hogbacks, strike valleys, and alluvial surfaces along the northwest flank of the San Juan Basin in Colorado can be obtained by minimal man-machine interaction. The determination of causes for separable spectral signatures is dependent upon extensive correlation of micro- and macro field based ground truth observations and aircraft underflight data with the satellite data.

Melhorn, W. N.↗

NASA NTRS1973

Recognition of surface lithologic and topographic patterns in southwest Colorado with ADP techniques

Melhorn, W. N.↗

NASA NTRS1973

Preliminary design and simulations of a Shuttle-Attached Manipulator System.

The preliminary design of a Shuttle-Attached Manipulator System is based on two arms that are articulated at shoulder, elbow, and wrist. Details of manipulator design are considered, giving attention to arm reach, velocity, acceleration, torque, joint angular travel limits, control, crew systems and man-machine interface, and telecommunications. The results of man-in-the-loop simulations show the feasibility of grappling a representative space payload from the Shuttle using a long boom manipulator system. The task, however, is sufficiently difficult to require the full concentration of one operator who should be relieved of any other tasks while performing operations with the manipulator system.

Brodie, S. B.↗

NASA NTRS1979

Development of concepts for satellite retrieval devices

The teleoperator being developed to augment the Space Transportation System (STS) for satellite placement, retrieval, or servicing at altitudes or orbital planes where it would be impractical to use the shuttle is primarily a general purpose propulsion stage that can be fitted with manipulator arms, automated servicers and satellite retrieval devices for particular missions. Design concepts for a general purpose retrieval device for docking with a satellite to which a grappling fixture has been attached, and for a retrieval device for docking with the Solar Maximum Mission (SMM) spacecraft were defined. The mechanical aspects of these two devices are discussed as well as the crew operations involved and problems created by the requirement for remote control. Drawings for the two retrieval device concepts are included.

Pruett, E. C.↗

NASA NTRS1980

Retrieval techniques: LVLH and inertially stabilized payloads

Procedures and techniques are discussed for retrieving payloads that are inertially or local vertical/local horizontal (LVLH) stabilized. Selection of the retrieval profile to be used depends on several factors: (1) control authority of the payload, (2) payload sensitivity to primary reaction control system (PRCS) plumes, (3) whether the payload is inertially or LVLH stabilized, (4) location of the grapple fixture, and (5) orbiter propellant consumption. The general retrieval profiles recommended are a V-bar approach for payloads that are LVLH or gravity-gradient stabilized, and the V-bar approach with one or two phase flyaround for inertially stabilized payloads. Once the general type of profile has been selected, the detailed retrieval profile and timeline should consider the various guidelines, groundrules, and constraints associated with a particular payload or flight. Reaction control system (RCS) propellant requirements for the recommended profiles range from 200 to 1500 pounds, depending on such factors as braking techniques, flyaround maneuvers (if necessary), and stationkeeping operations. The time required to perform a retrieval (starting from 1000 feet) varies from 20 to 130 minutes, depending on the complexity of the profile. The goals of this project are to develop a profile which ensures mission success; to make the retrieval profiles simple; and to keep the pilot workload to a minimum by making use of the automatic features of the orbiter flight software whenever possible.

Yglesias, J. A.↗

NASA NTRS1981

Spacecraft automatic umbilical system

An umbilical system design is described that incorporates all the features specified for a power system to payload interconnect capability. A proof-of-concept prototype of the umbilical system was built to determine experimentally the suitability of the threading characteristics of the ram mechanism and to verify freedom from cross threading. It is concluded that Berthing systems that utilize remote manipulator systems (RMS) can be simplified by using RMS targets, closed circuit TV cameras, tie into the RMS control system, and grapple-fixture and end-effector-like capture and secure mechanisms. To effect a remotely controlled umbilical interconnect in proximity with a manned spacecraft and to provide for extravehicular activity backup and maintenance capabilities, 18 different mechanisms are found to be necessary. The weight impact of proving for maintenance capability in a large multiple connector umbilical system was found to be in the order of +60 percent.

Goldin, R. W.↗

NASA NTRS1982

The Space Shuttle - Description, operation, and evolution

System specifications, launch procedures, costs, payloads, and evolutionary developments in the STS are outlined. The Shuttle employs solid propellant boosters and an external cryogenic fuel tank to achieve LEO for the manned Orbiter, which can maneuver in space and return to earth like a glider. The Shuttle can place a maximum payload of 30 tons into a 275 km orbit. An Inertial Upper Stage and a Spinning Solid Upper Stage will be carried by the Orbiter in its bay and used to boost satellites into GEO. Additionally, the Orbiter is equipped with a remote manipulator system for removing cargo from the bay and for grappling satellites for retrieval or repair. The Shuttle is presently launched from Kennedy Space Center, while a second launch site is being prepared at Vandenberg AFB. The STS is intended to perform 28-40 flights per year by the end of the 1980s. An Orbital Transfer Vehicle is under study to increase the size and length of payloads which can be placed in GEO using the Shuttle. Utilization of the concept is noted to be connected with the development of a permanently manned space station.

Bekey, I.↗

NASA NTRS1983

Space platforms

The expanded scientific capabilities available by interfacing an orbital, free-flying experiments platform with Shuttle tending are outlined. The platform would be lifted to orbit by the Shuttle, and modularly increased in size on subsequent flights. Science packages could be left on the 26,000 lb space platform for up to six months. Component sections would include electrical and thermal control systems, berthing ports for payloads and an Orbiter, and an attitude control, communications, and data handling subsection. A 12 kW solar array would furnish power, and interconnect with Spacelab would further enhance the operations range. All berthed science packages would have individual pointing ability and grapples for the Orbiter RMS. Eventual evolution to include facilities for a human crew and a 25 kW solar array is projected.

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NASA NTRS1985

Remotely Operated Gripper Tracks Applied Force

Operator "feel" incorporated into new design. Remotely controlled gripper grasps holds, and maneuvers items not equipped with grapple fixture and no preplanned interface with gripper.

Burns, G. C.↗

NASA NTRS1984

JPL Robotics Laboratory computer vision software library

The past ten years of research on computer vision have matured into a powerful real time system comprised of standardized commercial hardware, computers, and pipeline processing laboratory prototypes, supported by anextensive set of image processing algorithms. The software system was constructed to be transportable via the choice of a popular high level language (PASCAL) and a widely used computer (VAX-11/750), it comprises a whole realm of low level and high level processing software that has proven to be versatile for applications ranging from factory automation to space satellite tracking and grappling.

Cunningham, R.↗

NASA NTRS1986

Report on Computer Programs for Robotic Vision

Collection of programs supports robotic research. Report describes computer-vision software library NASA's Jet Propulsion Laboratory. Programs evolved during past 10 years of research into robotics. Collection includes low- and high-level image-processing software proved in applications ranging from factory automation to spacecraft tracking and grappling. Programs fall into several overlapping categories. Image utilities category are low-level routines that provide computer access to image data and some simple graphical capabilities for displaying results of image processing.

Cunningham, R. T.↗

NASA NTRS1986

Design concepts for bioreactors in space

Microbial food sources are becoming viable and more efficient alternatives to conventional food sources especially in the context of Closed Ecological Life Support Systems (CELSS) in space habitats. Since bioreactor designs for terrestrial operation will not readily apply to conditions of microgravity, there is an urgent need to learn about the differences. These differences cannot be easily estimated due to the complex nature of the mass transport and mixing mechanisms in fermenters. Therefore, a systematic and expeditious experimental program must be undertaken to obtain the engineering data necessary to lay down the foundations of designing bioreactors for microgravity. Two bioreactor design concepts presented represent two dissimilar approaches to grappling with the absence of gravity in space habitats and deserve to be tested for adoption as important components of the life support function aboard spacecrafts, space stations and other extra-terrestrial habitats.

Seshan, P. K.↗